Implements a PID control law to be used within a Controller. More...

#include <pid_controller.hpp>

Inheritance diagram for PIDcontroller:

[legend]

Public Member Functions
virtual ControlLaw *	clone () const

virtual uint	getNP () const

virtual uint	getNU () const

uint	getNumInputs () const

uint	getNumOutputs () const

virtual uint	getNW () const

virtual uint	getNX () const

virtual uint	getNXA () const

virtual uint	getNY () const

virtual returnValue	init (double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual BooleanType	isDynamic () const

virtual BooleanType	isStatic () const

PIDcontroller &	operator= (const PIDcontroller &rhs)

	PIDcontroller ()

	PIDcontroller (uint _nInputs, uint _nOutputs, double _samplingTime=DEFAULT_SAMPLING_TIME)

	PIDcontroller (const PIDcontroller &rhs)

returnValue	setDerivativeWeights (const DVector &_dWeights)

returnValue	setIntegralWeights (const DVector &_iWeights)

returnValue	setProportionalWeights (const DVector &_pWeights)

virtual returnValue	step (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual	~PIDcontroller ()

Public Member Functions inherited from ControlLaw
	ControlLaw ()

	ControlLaw (double _samplingTime)

	ControlLaw (const ControlLaw &rhs)

virtual returnValue	feedbackStep (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual double	getLengthControlHorizon () const

virtual double	getLengthPredictionHorizon () const

returnValue	getP (DVector &_p) const

returnValue	getU (DVector &_u) const

virtual returnValue	initializeAlgebraicStates (const VariablesGrid &_xa_init)

virtual returnValue	initializeAlgebraicStates (const char *fileName)

virtual returnValue	initializeControls (const VariablesGrid &_u_init)

virtual returnValue	initializeControls (const char *fileName)

virtual BooleanType	isInRealTimeMode () const

ControlLaw &	operator= (const ControlLaw &rhs)

virtual returnValue	preparationStep (double nextTime=0.0, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual returnValue	shift (double timeShift=-1.0)

virtual returnValue	step (const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual	~ControlLaw ()

Public Member Functions inherited from SimulationBlock
BlockName	getName () const

double	getSamplingTime () const

BooleanType	isDefined () const

SimulationBlock &	operator= (const SimulationBlock &rhs)

returnValue	setName (BlockName _name)

returnValue	setSamplingTime (double _samplingTime)

	SimulationBlock ()

	SimulationBlock (BlockName _name, double _samplingTime=DEFAULT_SAMPLING_TIME)

	SimulationBlock (const SimulationBlock &rhs)

virtual	~SimulationBlock ()

Public Member Functions inherited from UserInteraction
virtual int	addPlotWindow (PlotWindow &_window)

virtual int	operator<< (PlotWindow &_window)

virtual int	operator<< (LogRecord &_record)

UserInteraction &	operator= (const UserInteraction &rhs)

	UserInteraction ()

	UserInteraction (const UserInteraction &rhs)

virtual	~UserInteraction ()

Public Member Functions inherited from Options
returnValue	addOptionsList ()

returnValue	ensureConsistency ()

returnValue	ensureConsistency ()

returnValue	get (OptionsName name, int &value) const

returnValue	get (OptionsName name, double &value) const

returnValue	get (OptionsName name, std::string &value) const

returnValue	get (uint idx, OptionsName name, int &value) const

returnValue	get (uint idx, OptionsName name, double &value) const

returnValue	get (uint idx, OptionsName name, std::string &value) const

uint	getNumOptionsLists () const

Options	getOptions (uint idx) const

Options &	operator= (const Options &rhs)

Options &	operator= (const Options &rhs)

	Options ()

	Options ()

	Options (const Options &rhs)

	Options (const Options &rhs)

	Options ()

	Options (const OptionsList &_optionsList)

returnValue	print () const

returnValue	print () const

returnValue	printOptionsList () const

returnValue	printOptionsList (uint idx) const

returnValue	set (OptionsName name, int value)

returnValue	set (OptionsName name, double value)

returnValue	set (OptionsName name, const std::string &value)

returnValue	set (uint idx, OptionsName name, int value)

returnValue	set (uint idx, OptionsName name, double value)

returnValue	set (uint idx, OptionsName name, const std::string &value)

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

returnValue	setToDefault ()

returnValue	setToDefault ()

returnValue	setToFast ()

returnValue	setToFast ()

returnValue	setToMPC ()

returnValue	setToReliable ()

returnValue	setToReliable ()

	~Options ()

	~Options ()

virtual	~Options ()

Public Member Functions inherited from Logging
int	addLogRecord (LogRecord &record)

returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const

returnValue	getFirst (LogName _name, DMatrix &firstValue) const

returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const

returnValue	getLast (LogName _name, DMatrix &lastValue) const

returnValue	getLast (LogName _name, VariablesGrid &lastValue) const

returnValue	getLogRecord (LogRecord &_record) const

uint	getNumLogRecords () const

	Logging ()

int	operator<< (LogRecord &record)

returnValue	printLoggingInfo () const

returnValue	printNumDoubles () const

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

returnValue	setLast (LogName _name, const DMatrix &value, double time=-INFTY)

returnValue	setLast (LogName _name, VariablesGrid &value, double time=-INFTY)

returnValue	updateLogRecord (LogRecord &_record) const

virtual	~Logging ()

Public Member Functions inherited from Plotting
int	addPlotWindow (PlotWindow &_window)

uint	getNumPlotWindows () const

returnValue	getPlotWindow (uint idx, PlotWindow &_window) const

returnValue	getPlotWindow (PlotWindow &_window) const

int	operator<< (PlotWindow &_window)

Plotting &	operator= (const Plotting &rhs)

virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

	Plotting ()

	Plotting (const Plotting &rhs)

virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

virtual	~Plotting ()

Public Member Functions inherited from ClippingFunctionality
	ClippingFunctionality ()

	ClippingFunctionality (uint _nU, uint _nP=0)

	ClippingFunctionality (const ClippingFunctionality &rhs)

ClippingFunctionality &	operator= (const ClippingFunctionality &rhs)

returnValue	setControlLowerLimit (uint idx, double _lowerLimit)

returnValue	setControlLowerLimits (const DVector &_lowerLimit)

returnValue	setControlUpperLimit (uint idx, double _upperLimit)

returnValue	setControlUpperLimits (const DVector &_upperLimit)

returnValue	setParameterLowerLimit (uint idx, double _lowerLimit)

returnValue	setParameterLowerLimits (const DVector &_lowerLimit)

returnValue	setParameterUpperLimit (uint idx, double _upperLimit)

returnValue	setParameterUpperLimits (const DVector &_upperLimit)

	~ClippingFunctionality ()

Protected Member Functions
returnValue	determineControlAction (const DVector &error, DVector &output)

Protected Member Functions inherited from UserInteraction
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const

BlockStatus	getStatus () const

returnValue	setStatus (BlockStatus _status)

Protected Member Functions inherited from Options
returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

returnValue	addOption (OptionsName name, const std::string &value)

returnValue	addOption (uint idx, OptionsName name, int value)

returnValue	addOption (uint idx, OptionsName name, double value)

returnValue	addOption (uint idx, OptionsName name, const std::string &value)

returnValue	clearOptionsList ()

returnValue	copy (const Options &rhs)

returnValue	copy (const Options &rhs)

returnValue	declareOptionsUnchanged ()

returnValue	declareOptionsUnchanged (uint idx)

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

virtual returnValue	setupOptions ()

Protected Member Functions inherited from Logging
virtual returnValue	setupLogging ()

Protected Member Functions inherited from ClippingFunctionality
returnValue	clipSignals (VariablesGrid &_u, VariablesGrid &_p=emptyVariablesGrid)

returnValue	clipSignals (DVector &_u, DVector &_p=emptyVector)

uint	getNumControlLimits () const

uint	getNumParameterLimits () const

Protected Attributes
DVector	dWeights

DVector	iValue

DVector	iWeights

DVector	lastError

uint	nInputs

uint	nOutputs

DVector	pWeights

Protected Attributes inherited from ControlLaw
DVector	p

DVector	u

Protected Attributes inherited from SimulationBlock
BlockName	name

RealClock	realClock

double	samplingTime

Protected Attributes inherited from UserInteraction
BlockStatus	status

Protected Attributes inherited from Options
std::vector< OptionsList >	lists

Protected Attributes inherited from Logging
std::vector< LogRecord >	logCollection

int	logIdx

Protected Attributes inherited from Plotting
PlotCollection	plotCollection

Protected Attributes inherited from ClippingFunctionality
DVector	lowerLimitControls

DVector	lowerLimitParameters

DVector	upperLimitControls

DVector	upperLimitParameters

Additional Inherited Members
Public Attributes inherited from Options
real_t	boundRelaxation

real_t	boundTolerance

int	dropBoundPriority

int_t	dropBoundPriority

int	dropEqConPriority

int_t	dropEqConPriority

int	dropIneqConPriority

int_t	dropIneqConPriority

int	enableCholeskyRefactorisation

int_t	enableCholeskyRefactorisation

int	enableDriftCorrection

int_t	enableDriftCorrection

BooleanType	enableDropInfeasibles

BooleanType	enableEqualities

BooleanType	enableFarBounds

BooleanType	enableFlippingBounds

BooleanType	enableFullLITests

BooleanType	enableInertiaCorrection

BooleanType	enableNZCTests

BooleanType	enableRamping

BooleanType	enableRegularisation

real_t	epsDen

real_t	epsFlipping

real_t	epsIterRef

real_t	epsLITests

real_t	epsNum

real_t	epsNZCTests

real_t	epsRegularisation

real_t	finalRamping

real_t	growFarBounds

real_t	initialFarBounds

real_t	initialRamping

SubjectToStatus	initialStatusBounds

real_t	maxDualJump

real_t	maxPrimalJump

int	numRefinementSteps

int_t	numRefinementSteps

int	numRegularisationSteps

int_t	numRegularisationSteps

PrintLevel	printLevel

real_t	rcondSMin

real_t	terminationTolerance

Detailed Description

Implements a PID control law to be used within a Controller.

The class PIDcontroller implements a PID control law to be used within a Controller.

For each input component, the weight for the proportional, integral and derivative term can be specified. The PID controller can be used in one of two different modes, depending on the number of inputs and outputs:

i) nOutputs = nInputs: Each output component is determined by the sum of the P, I, and D weight on the corresponding input component.

ii) nOutputs = 1: The component is determined by the sum of the P, I, and D weights on all input components.

Author: Hans Joachim Ferreau, Boris Houska

Definition at line 67 of file pid_controller.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO PIDcontroller::PIDcontroller ( )

Default constructor.

Definition at line 46 of file pid_controller.cpp.

PIDcontroller::PIDcontroller	(	uint	_nInputs,
		uint	_nOutputs,
		double	_samplingTime = `DEFAULT_SAMPLING_TIME`
	)

Constructor which takes the number of inputs and outputs of the PID controller as well as the sampling time.

Parameters

[in]	_nInputs	Number of inputs.
[in]	_nOutputs	Number of outputs.
[in]	_samplingTime	Sampling time.

Definition at line 55 of file pid_controller.cpp.

PIDcontroller::PIDcontroller ( const PIDcontroller & rhs )

Copy constructor (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 88 of file pid_controller.cpp.

PIDcontroller::~PIDcontroller ( )

virtual

Destructor.

Definition at line 102 of file pid_controller.cpp.

Member Function Documentation

ControlLaw * PIDcontroller::clone ( ) const

virtual

Clone constructor (deep copy).

\return Pointer to deep copy of base class type

Implements ControlLaw.

Definition at line 129 of file pid_controller.cpp.

returnValue PIDcontroller::determineControlAction	(	const DVector &	error,
		DVector &	output
	)

protected

Actually calculates the current control action based on the given current error.

Parameters

[in]	error	Current error (difference to reference value).
[out]	output	Current control action.

Returns: SUCCESSFUL_RETURN

Definition at line 321 of file pid_controller.cpp.

uint PIDcontroller::getNP ( ) const

virtual

Returns number of parameters.

Returns: Number of parameters

Reimplemented from ControlLaw.

Definition at line 283 of file pid_controller.cpp.

uint PIDcontroller::getNU ( ) const

virtual

Returns number of controls. This is the same as the number of outputs.

Returns: Number of controls

Reimplemented from ControlLaw.

Definition at line 277 of file pid_controller.cpp.

uint PIDcontroller::getNumInputs ( ) const

inline

Returns number of input components of the PID controller.

Returns: Number of input components

uint PIDcontroller::getNumOutputs ( ) const

inline

Returns number of output components of the PID controller.

Returns: Number of output components

uint PIDcontroller::getNW ( ) const

virtual

Returns number of (estimated) disturbances.

Returns: Number of (estimated) disturbances

Reimplemented from ControlLaw.

Definition at line 289 of file pid_controller.cpp.

uint PIDcontroller::getNX ( ) const

virtual

Returns number of (estimated) differential states. This is the same as the number of inputs.

Returns: Number of (estimated) differential states

Reimplemented from ControlLaw.

Definition at line 265 of file pid_controller.cpp.

uint PIDcontroller::getNXA ( ) const

virtual

Returns number of (estimated) algebraic states.

Returns: Number of (estimated) algebraic states

Reimplemented from ControlLaw.

Definition at line 271 of file pid_controller.cpp.

uint PIDcontroller::getNY ( ) const

virtual

Returns number of process outputs.

Returns: Number of process outputs

Reimplemented from ControlLaw.

Definition at line 295 of file pid_controller.cpp.

returnValue PIDcontroller::init	(	double	startTime = `0.0`,
		const DVector &	x0_ = `emptyConstVector`,
		const DVector &	p_ = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Initializes the control law with given start values and performs a number of consistency checks.

Parameters

[in]	_startTime	Start time.
[in]	_x	Initial value for differential states.
[in]	_p	Initial value for parameters.
[in]	_yRef	Initial value for reference trajectory.

Returns: SUCCESSFUL_RETURN

Implements ControlLaw.

Definition at line 173 of file pid_controller.cpp.

BooleanType PIDcontroller::isDynamic ( ) const

virtual

Returns whether the control law is based on dynamic optimization or a static one.

Returns: BT_TRUE iff control law is based on dynamic optimization,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 301 of file pid_controller.cpp.

BooleanType PIDcontroller::isStatic ( ) const

virtual

Returns whether the control law is a static one or based on dynamic optimization.

Returns: BT_TRUE iff control law is a static one,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 307 of file pid_controller.cpp.

PIDcontroller & PIDcontroller::operator= ( const PIDcontroller & rhs )

Assignment operator (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 107 of file pid_controller.cpp.

returnValue PIDcontroller::setDerivativeWeights ( const DVector & _dWeights )

Assigns new derivative weights to the input components.

@param[in]  _dWeights               New derivative weights.

Returns: SUCCESSFUL_RETURN,
RET_VECTOR_DIMENSION_MISMATCH

Definition at line 160 of file pid_controller.cpp.

returnValue PIDcontroller::setIntegralWeights ( const DVector & _iWeights )

Assigns new integral weights to the input components.

@param[in]  _iWeights               New integral weights.

Returns: SUCCESSFUL_RETURN,
RET_VECTOR_DIMENSION_MISMATCH

Definition at line 148 of file pid_controller.cpp.

returnValue PIDcontroller::setProportionalWeights ( const DVector & _pWeights )

Assigns new proportional weights to the input components.

@param[in]  _pWeights               New proportional weights.

Returns: SUCCESSFUL_RETURN,
RET_VECTOR_DIMENSION_MISMATCH

Definition at line 136 of file pid_controller.cpp.

returnValue PIDcontroller::step	(	double	currentTime,
		const DVector &	_x,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Performs next step of the control law based on given inputs.

@param[in]  currentTime     Current time.
@param[in]  _x                      Most recent value for differential states.
@param[in]  _p                      Most recent value for parameters.
@param[in]  _yRef           Current piece of reference trajectory.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_VECTOR_DIMENSION_MISMATCH,
RET_CONTROLLAW_STEP_FAILED

Implements ControlLaw.

Definition at line 214 of file pid_controller.cpp.

Member Data Documentation

DVector PIDcontroller::dWeights

protected

Derivative weights for all input components.

Definition at line 278 of file pid_controller.hpp.

DVector PIDcontroller::iValue

protected

Integrated value for each input component.

Definition at line 280 of file pid_controller.hpp.

DVector PIDcontroller::iWeights

protected

Integral weights for all input components.

Definition at line 277 of file pid_controller.hpp.

DVector PIDcontroller::lastError

protected

Last error input (to be used for calculating the derivative via finite differences).

Definition at line 281 of file pid_controller.hpp.

uint PIDcontroller::nInputs

protected

Number of inputs.

Definition at line 273 of file pid_controller.hpp.

uint PIDcontroller::nOutputs

protected

Number of outputs.

Definition at line 274 of file pid_controller.hpp.

DVector PIDcontroller::pWeights

protected

Proportional weights for all input components.

Definition at line 276 of file pid_controller.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation