e600cd3d00
- Support interface properties as with JSBSim for easy reuse and parametrization of autopilot components. - Add property-root property to allow changing property root for all relative paths. This allows easy use of multiple instances of the same autopilot component at the same time by specifiying different property root nodes.
76 lines
2.7 KiB
C++
76 lines
2.7 KiB
C++
// pidcontroller.hxx - implementation of PID controller
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//
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// Written by Torsten Dreyer
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// Based heavily on work created by Curtis Olson, started January 2004.
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//
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// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
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// Copyright (C) 2010 Torsten Dreyer - Torsten (at) t3r (dot) de
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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#ifndef __PIDCONTROLLER_HXX
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#define __PIDCONTROLLER_HXX 1
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include "analogcomponent.hxx"
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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namespace FGXMLAutopilot {
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/**
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* Roy Ovesen's PID controller
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*/
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class PIDController : public AnalogComponent {
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private:
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// Configuration values
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InputValueList Kp; // proportional gain
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InputValueList Ti; // Integrator time (sec)
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InputValueList Td; // Derivator time (sec)
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double alpha; // low pass filter weighing factor (usually 0.1)
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double beta; // process value weighing factor for
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// calculating proportional error
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// (usually 1.0)
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double gamma; // process value weighing factor for
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// calculating derivative error
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// (usually 0.0)
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// Previous state tracking values
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double ep_n_1; // ep[n-1] (prop error)
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double edf_n_1; // edf[n-1] (derivative error)
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double edf_n_2; // edf[n-2] (derivative error)
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double u_n_1; // u[n-1] (output)
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double desiredTs; // desired sampling interval (sec)
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double elapsedTime; // elapsed time (sec)
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protected:
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virtual bool configure( SGPropertyNode& cfg_node,
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const std::string& cfg_name,
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SGPropertyNode& prop_root );
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public:
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PIDController();
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~PIDController() {}
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void update( bool firstTime, double dt );
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};
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}
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#endif // __PIDCONTROLLER_HXX
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