164 lines
5 KiB
C++
Executable file
164 lines
5 KiB
C++
Executable file
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
|
|
Header: FGPID.h
|
|
Author: Jon Berndt
|
|
Date started: 6/17/2006
|
|
|
|
------------- Copyright (C) 2006 by Jon S. Berndt, jon@jsbsim.org -------------
|
|
|
|
This program is free software; you can redistribute it and/or modify it under
|
|
the terms of the GNU Lesser General Public License as published by the Free Software
|
|
Foundation; either version 2 of the License, or (at your option) any later
|
|
version.
|
|
|
|
This program is distributed in the hope that it will be useful, but WITHOUT
|
|
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
|
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
|
|
details.
|
|
|
|
You should have received a copy of the GNU Lesser General Public License along with
|
|
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
|
|
Place - Suite 330, Boston, MA 02111-1307, USA.
|
|
|
|
Further information about the GNU Lesser General Public License can also be found on
|
|
the world wide web at http://www.gnu.org.
|
|
|
|
HISTORY
|
|
--------------------------------------------------------------------------------
|
|
Initial Code 6/17/2006 JSB
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
SENTRY
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
#ifndef FGPID_H
|
|
#define FGPID_H
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
INCLUDES
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
#include "FGFCSComponent.h"
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
DEFINITIONS
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
#define ID_PID "$Id: FGPID.h,v 1.16 2014/01/02 21:58:42 bcoconni Exp $"
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
FORWARD DECLARATIONS
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
namespace JSBSim {
|
|
|
|
class FGFCS;
|
|
class Element;
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
CLASS DOCUMENTATION
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
/** Encapsulates a PID control component for the flight control system.
|
|
|
|
<h3>Configuration Format:</h3>
|
|
|
|
@code
|
|
<pid name="{string}" [type="standard"]>
|
|
<kp> {number|property} </kp>
|
|
<ki> {number|property} </ki>
|
|
<kd> {number|property} </kd>
|
|
<trigger> {property} </trigger>
|
|
</pid>
|
|
@endcode
|
|
|
|
For the integration constant element, one can also supply the type attribute for
|
|
what kind of integrator to be used, one of:
|
|
|
|
- rect, for a rectangular integrator
|
|
- trap, for a trapezoidal integrator
|
|
- ab2, for a second order Adams Bashforth integrator
|
|
- ab3, for a third order Adams Bashforth integrator
|
|
|
|
For example,
|
|
|
|
@code
|
|
<pid name="fcs/heading-control">
|
|
<kp> 3 </kp>
|
|
<ki type="ab3"> 1 </ki>
|
|
<kd> 1 </kd>
|
|
</pid>
|
|
@endcode
|
|
|
|
|
|
|
|
<h3>Configuration Parameters:</h3>
|
|
<pre>
|
|
|
|
The values of kp, ki, and kd have slightly different interpretations depending on
|
|
whether the PID controller is a standard one, or an ideal/parallel one - with the latter
|
|
being the default.
|
|
|
|
kp - Proportional constant, default value 0.
|
|
ki - Integrative constant, default value 0.
|
|
kd - Derivative constant, default value 0.
|
|
trigger - Property which is used to sense wind-up, optional. Most often, the trigger
|
|
will be driven by the "saturated" property of a particular actuator. When
|
|
the relevant actuator has reached it's limits (if there are any, specified
|
|
by the <clipto> element) the automatically generated saturated property will
|
|
be greater than zero (true). If this property is used as the trigger for the
|
|
integrator, the integrator will not continue to integrate while the property
|
|
is still true (> 1), preventing wind-up.
|
|
pvdot - The property to be used as the process variable time derivative.
|
|
|
|
|
|
|
|
</pre>
|
|
|
|
@author Jon S. Berndt
|
|
@version $Revision: 1.16 $
|
|
*/
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
CLASS DECLARATION
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
class FGPID : public FGFCSComponent
|
|
{
|
|
public:
|
|
FGPID(FGFCS* fcs, Element* element);
|
|
~FGPID();
|
|
|
|
bool Run (void);
|
|
void ResetPastStates(void);
|
|
|
|
/// These define the indices use to select the various integrators.
|
|
enum eIntegrateType {eNone = 0, eRectEuler, eTrapezoidal, eAdamsBashforth2, eAdamsBashforth3};
|
|
|
|
void SetInitialOutput(double val) {
|
|
I_out_total = val;
|
|
Output = val;
|
|
}
|
|
|
|
private:
|
|
double Kp, Ki, Kd;
|
|
double I_out_total;
|
|
double Input_prev, Input_prev2;
|
|
double KpPropertySign;
|
|
double KiPropertySign;
|
|
double KdPropertySign;
|
|
|
|
bool IsStandard;
|
|
|
|
eIntegrateType IntType;
|
|
|
|
FGPropertyNode_ptr Trigger;
|
|
FGPropertyNode_ptr KpPropertyNode;
|
|
FGPropertyNode_ptr KiPropertyNode;
|
|
FGPropertyNode_ptr KdPropertyNode;
|
|
FGPropertyNode_ptr ProcessVariableDot;
|
|
|
|
void Debug(int from);
|
|
};
|
|
}
|
|
#endif
|