wbc::PIDController Class Reference

The PIDController class implements an n-dimensional PID controller. More...

#include <PIDController.hpp>

Inheritance diagram for wbc::PIDController:

Public Member Functions
	PIDController (uint dimension)
virtual	~PIDController ()
void	update (const double delta_t)
void	setPID (const PIDCtrlParams &params)
const PIDCtrlParams &	getPID ()
void	setMaxCtrlOutput (const base::VectorXd &max)
const base::VectorXd &	maxCtrlOutput ()
void	setDeadZone (const base::VectorXd &dz)
const base::VectorXd &	deadZone ()
void	applySaturation (const base::VectorXd &in, const base::VectorXd &max, base::VectorXd &out)
void	applyDeadZone (const base::VectorXd &in, const base::VectorXd &min, base::VectorXd &out)
uint	getDimension ()
base::VectorXd	getControlError ()
virtual const base::VectorXd &	computeDerivative (const double delta_t)

Protected Attributes
PIDCtrlParams	pid_params
uint	dimension
base::VectorXd	control_error
base::VectorXd	prev_control_error
base::VectorXd	dead_zone
base::VectorXd	max_ctrl_output
base::VectorXd	integral
base::VectorXd	derivative
base::VectorXd	control_output
base::VectorXd	setpoint
base::VectorXd	feedback

Detailed Description

The PIDController class implements an n-dimensional PID controller.

\[ u = k_p \cdot e + k_i\sum e \cdot dt + k_d\frac{d}{dt}e \]

with integral windup

\[ \sum e \cdot dt \leq w_i \]

and dead zone

\[ e = \left \lbrace \begin{array}{ccc}x_r-x & if & |x_r-x| > d_e \\ \\ 0 & else \end{array}\right. \]

\(u\) - Control output
\(k_p,k_i,k_d\) - Proportional, integral and derivative gain
\(e\) - Control error
\(w_i\) - Integral windup
\(d_e\) - Dead zone
\(x_r,x\) - Reference and actual controlled value

Constructor & Destructor Documentation

PIDController()

wbc::PIDController::PIDController

(

uint

dimension

)

~PIDController()

virtual wbc::PIDController::~PIDController ( )

inlinevirtual

Member Function Documentation

applyDeadZone()

void wbc::PIDController::applyDeadZone	(	const base::VectorXd &	in,
		const base::VectorXd &	min,
		base::VectorXd &	out )

applySaturation()

void wbc::PIDController::applySaturation	(	const base::VectorXd &	in,
		const base::VectorXd &	max,
		base::VectorXd &	out )

computeDerivative()

const base::VectorXd & wbc::PIDController::computeDerivative ( const double delta_t )

virtual

deadZone()

const base::VectorXd & wbc::PIDController::deadZone ( )

inline

getControlError()

base::VectorXd wbc::PIDController::getControlError ( )

inline

getDimension()

uint wbc::PIDController::getDimension ( )

inline

getPID()

const PIDCtrlParams & wbc::PIDController::getPID ( )

inline

maxCtrlOutput()

const base::VectorXd & wbc::PIDController::maxCtrlOutput ( )

inline

setDeadZone()

void wbc::PIDController::setDeadZone

(

const base::VectorXd &

dz

)

setMaxCtrlOutput()

void wbc::PIDController::setMaxCtrlOutput

(

const base::VectorXd &

max

)

setPID()

void wbc::PIDController::setPID

(

const PIDCtrlParams &

params

)

update()

void wbc::PIDController::update

(

const double

delta_t

)

Compute control output

Member Data Documentation

control_error

base::VectorXd wbc::PIDController::control_error

protected

control_output

base::VectorXd wbc::PIDController::control_output

protected

dead_zone

base::VectorXd wbc::PIDController::dead_zone

protected

derivative

base::VectorXd wbc::PIDController::derivative

protected

dimension

uint wbc::PIDController::dimension

protected

feedback

base::VectorXd wbc::PIDController::feedback

protected

integral

base::VectorXd wbc::PIDController::integral

protected

max_ctrl_output

base::VectorXd wbc::PIDController::max_ctrl_output

protected

pid_params

PIDCtrlParams wbc::PIDController::pid_params

protected

prev_control_error

base::VectorXd wbc::PIDController::prev_control_error

protected

setpoint

base::VectorXd wbc::PIDController::setpoint

protected

---

The documentation for this class was generated from the following files:

• src/controllers/PIDController.hpp
• src/controllers/PIDController.cpp