Several forms of PID controllers. More...

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Data Structures
struct	PID_f
	Simple PID structure floating point. More...

struct	PID_df
	Distcrete time PID structure. More...

struct	PI_D_df
	Distcrete time PI-D structure. More...

Functions
static void	init_pid_f (struct PID_f *pid, float Kp, float Kd, float Ki, float max_sum)

static float	update_pid_f (struct PID_f *pid, float value, float dt)
	Update PID with a new value and return new command. More...

static float	get_pid_f (struct PID_f *pid)
	Get current value of the PID command. More...

static void	reset_pid_f (struct PID_f *pid)
	Reset PID struture, gains left unchanged. More...

static void	set_gains_pid_f (struct PID_f *pid, float Kp, float Kd, float Ki)
	Set gains of the PID struct. More...

static void	set_integral_pid_f (struct PID_f *pid, float value)
	Set integral part, can be used to reset. More...

static void	init_pid_df (struct PID_df *pid, float Kp, float Kd, float Ki, float Ts)
	Init PID struct. More...

static float	update_pid_df (struct PID_df *pid, float value)
	Update PID with a new value and return new command. More...

static float	get_pid_df (struct PID_df *pid)
	Get current value of the PID command. More...

static void	reset_pid_df (struct PID_df *pid)
	Reset PID struture, gains left unchanged. More...

static void	set_gains_pid_df (struct PID_df *pid, float Kp, float Kd, float Ki, float Ts)
	Set gains of the PID struct. More...

static void	init_pi_d_df (struct PI_D_df *pid, float Kp, float Kd, float Ki, float Ts)
	Init PI-D struct. More...

static float	update_pi_d_df (struct PI_D_df *pid, float value, float deriv)
	Update PI-D with a new value and return new command. More...

static float	get_pi_d_df (struct PI_D_df *pid)
	Get current value of the PI-D command. More...

static void	reset_pi_d_df (struct PI_D_df *pid)
	Reset PI-D struture, gains left unchanged. More...

static void	set_gains_pi_d_df (struct PI_D_df *pid, float Kp, float Kd, float Ki, float Ts)
	Set gains PI-D struct. More...

Detailed Description

Several forms of PID controllers.

Definition in file pid.h.

Data Structure Documentation

◆ PID_f

struct PID_f

Simple PID structure floating point.

u_k = Kp * e_k + Kd * (e_k - e_k-1) / dt + Ki * (sum (e_k * dt))

with: u = outputs e = inputs Kp = proportional gain Kd = derivative gain Ki = integral gain dt = time since last input

Definition at line 42 of file pid.h.

Data Fields
float	e[2]	input
float	g[3]	controller gains (Kp, Kd, Ki)
float	max_sum	windup protection, max of Ki * sum(e_k * dt)
float	sum	integral of input
float	u	output

◆ PID_df

struct PID_df

Distcrete time PID structure.

floating point, fixed frequency.

u_k = u_k-1 + a * e_k + b * e_k-1 + c * e_k-2

with: u = outputs e = inputs a = Kp + Ki Ts/2 + Kd/Ts b = -Kp + Ki Ts/2 - 2 Kd/Ts c = Kd/Ts Kp = proportional gain Kd = derivative gain Ki = integral gain Ts = sampling frequency

Definition at line 160 of file pid.h.

Data Fields
float	e[3]	input
float	g[3]	controller gains
float	u[2]	output

◆ PI_D_df

struct PI_D_df

Distcrete time PI-D structure.

derivative term is directly provided as input as it may be available directly from a sensor or estimated separately. floating point, fixed frequency.

u_k = u_k-1 + a * e_k + b * e_k-1 + Kd * d_k

with: u = outputs e = inputs d = derivative of input a = Kp + Ki Ts/2 b = -Kp + Ki Ts/2 Kp = proportional gain Kd = derivative gain Ki = integral gain Ts = sampling frequency

Definition at line 259 of file pid.h.

Data Fields
float	e[2]	input
float	g[3]	controller gains
float	u[2]	output

Function Documentation

◆ get_pi_d_df()

static float get_pi_d_df ( struct PI_D_df * pid )

inlinestatic

Get current value of the PI-D command.

Parameters

pid	pointer to PI-D structure

Returns: current value of PI-D command

Definition at line 305 of file pid.h.

References PI_D_df::u.

◆ get_pid_df()

static float get_pid_df ( struct PID_df * pid )

inlinestatic

Get current value of the PID command.

Parameters

pid	pointer to PID structure

Returns: current value of PID command

Definition at line 206 of file pid.h.

References PID_df::u.

◆ get_pid_f()

static float get_pid_f ( struct PID_f * pid )

inlinestatic

Get current value of the PID command.

Parameters

pid	pointer to PID structure

Returns: current value of PID command

Definition at line 89 of file pid.h.

References PID_f::u.

Referenced by rover_guidance_steering_speed_ctrl().

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◆ init_pi_d_df()

static void init_pi_d_df	(	struct PI_D_df *	pid,
		float	Kp,
		float	Kd,
		float	Ki,
		float	Ts
	)

inlinestatic

Init PI-D struct.

Parameters

pid	pointer to PID structure
Kp	proportional gain
Kd	derivative gain
Ki	integral gain
Ts	sampling time

Definition at line 273 of file pid.h.

◆ init_pid_df()

static void init_pid_df	(	struct PID_df *	pid,
		float	Kp,
		float	Kd,
		float	Ki,
		float	Ts
	)

inlinestatic

Init PID struct.

Parameters

pid	pointer to PID structure
Kp	proportional gain
Kd	derivative gain
Ki	integral gain
Ts	sampling time

Definition at line 174 of file pid.h.

◆ init_pid_f()

static void init_pid_f	(	struct PID_f *	pid,
		float	Kp,
		float	Kd,
		float	Ki,
		float	max_sum
	)

inlinestatic

Definition at line 50 of file pid.h.

References PID_f::max_sum.

Referenced by rover_guidance_steering_init(), and shift_tracking_init().

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◆ reset_pi_d_df()

static void reset_pi_d_df ( struct PI_D_df * pid )

inlinestatic

Reset PI-D struture, gains left unchanged.

Parameters

pid	pointer to PI-D structure

Definition at line 314 of file pid.h.

References PI_D_df::e, and PI_D_df::u.

◆ reset_pid_df()

static void reset_pid_df ( struct PID_df * pid )

inlinestatic

Reset PID struture, gains left unchanged.

Parameters

pid	pointer to PID structure

Definition at line 215 of file pid.h.

References PID_df::e, and PID_df::u.

◆ reset_pid_f()

static void reset_pid_f ( struct PID_f * pid )

inlinestatic

Reset PID struture, gains left unchanged.

Parameters

pid	pointer to PID structure

Definition at line 98 of file pid.h.

References PID_f::e, PID_f::sum, and PID_f::u.

Referenced by rover_guidance_steering_pid_reset(), and shift_tracking_reset().

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◆ set_gains_pi_d_df()

static void set_gains_pi_d_df	(	struct PI_D_df *	pid,
		float	Kp,
		float	Kd,
		float	Ki,
		float	Ts
	)

inlinestatic

Set gains PI-D struct.

Parameters

pid	pointer to PID structure
Kp	proportional gain
Kd	derivative gain
Ki	integral gain
Ts	sampling time

Definition at line 330 of file pid.h.

References PI_D_df::g.

◆ set_gains_pid_df()

static void set_gains_pid_df	(	struct PID_df *	pid,
		float	Kp,
		float	Kd,
		float	Ki,
		float	Ts
	)

inlinestatic

Set gains of the PID struct.

Parameters

pid	pointer to PID structure
Kp	proportional gain
Kd	derivative gain
Ki	integral gain
Ts	sampling time

Definition at line 232 of file pid.h.

References PID_df::g.

◆ set_gains_pid_f()

static void set_gains_pid_f	(	struct PID_f *	pid,
		float	Kp,
		float	Kd,
		float	Ki
	)

inlinestatic

Set gains of the PID struct.

Parameters

pid	pointer to PID structure
Kp	proportional gain
Kd	derivative gain
Ki	integral gain

Definition at line 113 of file pid.h.

References PID_f::g.

Referenced by rover_guidance_steering_speed_ctrl().

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◆ set_integral_pid_f()

static void set_integral_pid_f	(	struct PID_f *	pid,
		float	value
	)

inlinestatic

Set integral part, can be used to reset.

The new sum of errors is calculated from current gains and bounds.

Parameters

pid	pointer to PID structure
value	integral part of the PID control, 0. will reset it

Definition at line 126 of file pid.h.

References PID_f::g, PID_f::max_sum, and PID_f::sum.

◆ update_pi_d_df()

static float update_pi_d_df	(	struct PI_D_df *	pid,
		float	value,
		float	deriv
	)

inlinestatic

Update PI-D with a new value and return new command.

Parameters

pid	pointer to PI-D structure
value	new input value of the PI-D
deriv	new input derivative

Returns: new output command

Definition at line 291 of file pid.h.

References PI_D_df::e, PI_D_df::g, and PI_D_df::u.

◆ update_pid_df()

static float update_pid_df	(	struct PID_df *	pid,
		float	value
	)

inlinestatic

Update PID with a new value and return new command.

Parameters

pid	pointer to PID structure
value	new input value of the PID

Returns: new output command

Definition at line 191 of file pid.h.

References PID_df::e, PID_df::g, and PID_df::u.

◆ update_pid_f()

static float update_pid_f	(	struct PID_f *	pid,
		float	value,
		float	dt
	)

inlinestatic

Update PID with a new value and return new command.

Parameters

pid	pointer to PID structure
value	new input value of the PID
dt	time since last input (in seconds)

Returns: new output command

Definition at line 68 of file pid.h.

References PID_f::e, PID_f::g, PID_f::max_sum, PID_f::sum, and PID_f::u.

Referenced by rover_guidance_steering_speed_ctrl(), and shift_tracking_run().

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Data Structures

Functions

Detailed Description

Data Structure Documentation

◆ PID_f

◆ PID_df

◆ PI_D_df

Function Documentation

◆ get_pi_d_df()

◆ get_pid_df()

◆ get_pid_f()

◆ init_pi_d_df()

◆ init_pid_df()

◆ init_pid_f()

◆ reset_pi_d_df()

◆ reset_pid_df()

◆ reset_pid_f()

◆ set_gains_pi_d_df()

◆ set_gains_pid_df()

◆ set_gains_pid_f()

◆ set_integral_pid_f()

◆ update_pi_d_df()

◆ update_pid_df()

◆ update_pid_f()