A PID controller object. More...

#include <pid.hpp>

Inheritance diagram for qlibs::pidController:

Public Member Functions
virtual	~pidController ()

	pidController ()=default

bool	setup (const real_t kc, const real_t ki, const real_t kd, const real_t dT) noexcept
	Setup and initialize the PID controller instance.

bool	setup (const pidGains &g, const real_t dT) noexcept
	Setup and initialize the PID controller instance.

bool	setDirection (const pidDirection d) noexcept
	Set the PID control action direction.

bool	setParams (const real_t kc, const real_t ti, const real_t td) noexcept
	Set/Change the PID controller gains by using the [Kc, Ti Td ] triplet.

bool	setGains (const real_t kc, const real_t ki, const real_t kd) noexcept
	Set/Change the PID controller gains.

bool	setGains (const pidGains &g) noexcept
	Set/Change the PID controller gains.

bool	setExtraGains (const real_t Kw, const real_t Kt) noexcept
	Set/Change extra PID controller gains.

bool	setSaturation (const real_t Min, const real_t Max) noexcept
	Setup the output saturation for the PID controller.

bool	setSeries (void) noexcept
	Convert the controller gains to conform the series or interacting form.

bool	setEpsilon (const real_t eps) noexcept
	Set the minimum value considered as error.

bool	setDerivativeFilter (const real_t Beta) noexcept
	Set the tuning parameter for the derivative filter.

bool	setDerivativeFilterTimeConstant (const real_t Tf) noexcept
	Set the time constant for the derivative filter.

bool	setMode (const pidMode Mode) noexcept
	Change the controller operational mode. In pidMode::PID_AUTOMATIC, the computed output of the PID controller will be used as the control signal for the process. In pidMode::PID_MANUAL mode, the manual input will be used as the control signal for the process and the PID controller loop will continue operating to guarantee the bumpless-transfer when a switch to the pidMode::PID_AUTOMATIC its performed;.

bool	setReferenceWeighting (const real_t gb, const real_t gc) noexcept
	Set the PID Reference(Set-Point) Weighting. This value is used in order to avoid the increase of the rise time due to the smoothing of the reference signal applied to the closed-loop system.

bool	setManualInput (const real_t manualInput) noexcept
	Set the PID manual input mode. This value will be used as the manual input when the controller it set into the pidMode::PID_MANUAL mode. Bumpless-transfer is guaranteed.

bool	setModelReferenceControl (const real_t &modelRef, const real_t Gamma=0.5_re, const real_t Alpha=0.01_re) noexcept
	Enable the additive MRAC(Model Reference Adaptive Control) feature.

bool	removeModelReferenceControl (void) noexcept
	Removes the Enable the additive MRAC(Model Reference Adaptive Control) feature from the control loop.

real_t	control (const real_t w, const real_t y) noexcept
	Computes the control action for given PID controller instance.

bool	bindAutoTuning (pidAutoTuning &at) noexcept
	Binds the specified instance to enable the PID controller auto tuning algorithm.

bool	unbindAutoTuning (void) noexcept
	Unbind and disable the PID controller auto-tuning algorithm.

bool	enableAutoTuning (const uint32_t tEnable) noexcept
	Set the number of time steps where the auto tuner algorithm will modify the controller gains.

bool	isAutoTuningComplete (void) const noexcept
	Verifies that the auto tuning process has finished with new gains set on the controller.

bool	setAutoTuningParameters (const real_t Mu, const real_t Alpha, const real_t lambda) noexcept
	Change parameters of the auto-tuning algorithm.

bool	setAutoTuningControllerType (const pidType t) noexcept
	Select the PID type to tune.

bool	reset (void) noexcept
	Reset the internal PID controller calculations.

pidGains	getGains (void) const noexcept
	Retrieve the current PID gains.

Public Member Functions inherited from qlibs::nState
virtual	~nState ()

	nState (const real_t x0=0.0_re, const real_t sn_1=0.0_re, const real_t sn_2=0.0_re) noexcept
	Constructor for the state object.

void	init (const real_t x0=0.0_re, const real_t sn_1=0.0_re, const real_t sn_2=0.0_re) noexcept
	Initialize the state object.

real_t	integrate (const real_t s, const real_t dt, const bool bUpdate=true) noexcept
	Perform a numerical integration step.

real_t	derive (const real_t s, const real_t dt, const bool bUpdate=true) noexcept
	Perform a numerical derivation step by using the delta rule.

void	setIntegrationMethod (integrationMethod m) noexcept
	Set integration method .

void	setDerivationMethod (derivationMethod m) noexcept
	Set derivation method.

real_t	operator() (void) const noexcept
	Get the value of the state.

Additional Inherited Members
Public Attributes inherited from qlibs::pidGains
real_t	Kc

real_t	Ki

real_t	Kd

Detailed Description

A PID controller object.

The instance should be initialized using the pid::setup() method.

Constructor & Destructor Documentation

◆ ~pidController()

virtual qlibs::pidController::~pidController ( )

inlinevirtual

◆ pidController()

qlibs::pidController::pidController ( )

default

Member Function Documentation

◆ bindAutoTuning()

bool pidController::bindAutoTuning ( pidAutoTuning & at )

noexcept

Binds the specified instance to enable the PID controller auto tuning algorithm.

Parameters

[in] at The PID auto-tuning instance.

Returns: true on success, otherwise return false.

◆ control()

real_t pidController::control	(	const real_t	w,
		const real_t	y )

noexcept

Computes the control action for given PID controller instance.

Precondition: Instance must be previously initialized by pidController::setup()

Note: The user must ensure that this function is executed in the time specified in dt either by using a HW or SW timer, a real time task, or a timing service.

Parameters

[in]	w	The reference value aka SetPoint.
[in]	y	The controlled variable aka Process-variable.

Returns: The control action.

◆ enableAutoTuning()

bool pidController::enableAutoTuning ( const uint32_t tEnable )

noexcept

Set the number of time steps where the auto tuner algorithm will modify the controller gains.

Precondition: Controller must have an pidAutoTuning object already binded wih pidController::bindAutoTuning()

Note: To disable auto-tuning pass a 0uL value to the tEnable argument.

Parameters

[in] tEnable The number of time steps. To keep the auto tuner enabled indefinitely pass pidAutoTuning::UNDEFINED as argument.

Returns: true on success, otherwise return false.

◆ getGains()

pidGains qlibs::pidController::getGains ( void ) const

inlinenoexcept

Retrieve the current PID gains.

Returns: A struct with the pid gains Kc Ki and Kd

◆ isAutoTuningComplete()

bool pidController::isAutoTuningComplete ( void ) const

noexcept

Verifies that the auto tuning process has finished with new gains set on the controller.

Returns: true if auto-tuning its complete, otherwise return false.

◆ removeModelReferenceControl()

bool pidController::removeModelReferenceControl ( void )

noexcept

Removes the Enable the additive MRAC(Model Reference Adaptive Control) feature from the control loop.

Returns: true on success, otherwise return false.

◆ reset()

bool pidController::reset ( void )

noexcept

Reset the internal PID controller calculations.

Returns: true on success, otherwise return false.

◆ setAutoTuningControllerType()

bool pidController::setAutoTuningControllerType ( const pidType t )

noexcept

Select the PID type to tune.

Parameters

[in] t The type of controller to tune.

Returns: true on success, false on failure.

◆ setAutoTuningParameters()

bool pidController::setAutoTuningParameters	(	const real_t	Mu,
		const real_t	Alpha,
		const real_t	lambda )

noexcept

Change parameters of the auto-tuning algorithm.

Parameters

[in]	Mu	Algorithm momentum. [ 0 <= Mu <= 1 ].
[in]	Alpha	Final controller speed adjustment. [ 0 < Alpha <= 1 ].
[in]	lambda	Algorithm forgetting factor [ 0.8 <= lambda <= 1 ].

Returns: true on success, false on failure.

◆ setDerivativeFilter()

bool pidController::setDerivativeFilter ( const real_t Beta )

noexcept

Set the tuning parameter for the derivative filter.

Parameters

[in] Beta The tuning parameter. [ 0 <= Beta < 1 ]

Returns: true on success, otherwise return false.

◆ setDerivativeFilterTimeConstant()

bool pidController::setDerivativeFilterTimeConstant ( const real_t Tf )

noexcept

Set the time constant for the derivative filter.

Note

Parameters

[in] Tf Derivative filter time constant [ Tf >= 0 ]

Returns: true on success, otherwise return false.

◆ setDirection()

bool pidController::setDirection ( const pidDirection d )

noexcept

Set the PID control action direction.

Parameters

[in] d Desired output direction.

Returns: true on success, otherwise return false.

◆ setEpsilon()

bool pidController::setEpsilon ( const real_t eps )

noexcept

Set the minimum value considered as error.

Parameters

[in] eps The minimal error value ( eps > 0 ).

Returns: true on success, otherwise return false.

◆ setExtraGains()

bool pidController::setExtraGains	(	const real_t	Kw,
		const real_t	Kt )

noexcept

Set/Change extra PID controller gains.

Parameters

[in]	Kw	Saturation feedback gain. Used for antiWindup and bumpless transfer. A zero value disables these features.
[in]	Kt	Manual input gain.

Returns: true on success, otherwise return false.

◆ setGains() [1/2]

bool pidController::setGains ( const pidGains & g )

noexcept

Set/Change the PID controller gains.

Parameters

[in] g The structure with the controller gains

Returns: true on success, otherwise return false.

◆ setGains() [2/2]

bool pidController::setGains	(	const real_t	kc,
		const real_t	ki,
		const real_t	kd )

noexcept

Set/Change the PID controller gains.

Parameters

[in]	kc	Proportional Gain.
[in]	ki	Integral Gain.
[in]	kd	Derivative Gain.

Returns: true on success, otherwise return false.

◆ setManualInput()

bool pidController::setManualInput ( const real_t manualInput )

noexcept

Set the PID manual input mode. This value will be used as the manual input when the controller it set into the pidMode::PID_MANUAL mode. Bumpless-transfer is guaranteed.

Parameters

[in] manualInput The value of the manual input.

Returns: true on success, otherwise return false.

◆ setMode()

bool pidController::setMode ( const pidMode Mode )

noexcept

Change the controller operational mode. In pidMode::PID_AUTOMATIC, the computed output of the PID controller will be used as the control signal for the process. In pidMode::PID_MANUAL mode, the manual input will be used as the control signal for the process and the PID controller loop will continue operating to guarantee the bumpless-transfer when a switch to the pidMode::PID_AUTOMATIC its performed;.

Parameters

[in] Mode The desired operational mode.

Returns: true on success, otherwise return false.

◆ setModelReferenceControl()

bool pidController::setModelReferenceControl	(	const real_t &	modelRef,
		const real_t	Gamma = 0.5_re,
		const real_t	Alpha = 0.01_re )

noexcept

Enable the additive MRAC(Model Reference Adaptive Control) feature.

Parameters

[in]	modelRef	A pointer to the output of the model reference.
[in]	Gamma	Adjustable parameter to indicate the adaptation speed.
[in]	Alpha	Adjustable parameter the adaptation momentum.

Returns: true on success, otherwise return false.

◆ setParams()

bool pidController::setParams	(	const real_t	kc,
		const real_t	ti,
		const real_t	td )

noexcept

Set/Change the PID controller gains by using the [Kc, Ti Td ] triplet.

Parameters

[in]	kc	Proportional Gain.
[in]	ti	Integral time.
[in]	td	Derivative time.

Returns: true on success, otherwise return false.

◆ setReferenceWeighting()

bool pidController::setReferenceWeighting	(	const real_t	gb,
		const real_t	gc )

noexcept

Set the PID Reference(Set-Point) Weighting. This value is used in order to avoid the increase of the rise time due to the smoothing of the reference signal applied to the closed-loop system.

Note: A value close to zero en gc can be used to eliminate the reduce the effect of the phenomena called "derivative-kick"

Parameters

[in]	gb	The reference weight value for the proportional element.
[in]	gc	The reference weight value for the derivative element.

Returns: true on success, otherwise return false.

◆ setSaturation()

bool pidController::setSaturation	(	const real_t	Min,
		const real_t	Max )

noexcept

Setup the output saturation for the PID controller.

Parameters

[in]	Min	The minimal value allowed for the output.
[in]	Max	The maximal value allowed for the output.

Returns: true on success, otherwise return false.

◆ setSeries()

bool pidController::setSeries ( void )

noexcept

Convert the controller gains to conform the series or interacting form.

Returns: true on success, otherwise return false.

◆ setup() [1/2]

bool qlibs::pidController::setup	(	const pidGains &	g,
		const real_t	dT )

inlinenoexcept

Setup and initialize the PID controller instance.

Parameters

[in]	g	The structure with the controller gains
[in]	dT	Time step in seconds.

Returns: true on success, otherwise return false.

◆ setup() [2/2]

bool pidController::setup	(	const real_t	kc,
		const real_t	ki,
		const real_t	kd,
		const real_t	dT )

noexcept

Setup and initialize the PID controller instance.

Parameters

[in]	kc	Proportional Gain.
[in]	ki	Integral Gain.
[in]	kd	Derivative Gain.
[in]	dT	Time step in seconds.

Returns: true on success, otherwise return false.

◆ unbindAutoTuning()

bool qlibs::pidController::unbindAutoTuning ( void )

inlinenoexcept

Unbind and disable the PID controller auto-tuning algorithm.

Returns: true on success, otherwise return false.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~pidController()

◆ pidController()

Member Function Documentation

◆ bindAutoTuning()

◆ control()

◆ enableAutoTuning()

◆ getGains()

◆ isAutoTuningComplete()

◆ removeModelReferenceControl()

◆ reset()

◆ setAutoTuningControllerType()

◆ setAutoTuningParameters()

◆ setDerivativeFilter()

◆ setDerivativeFilterTimeConstant()

◆ setDirection()

◆ setEpsilon()

◆ setExtraGains()

◆ setGains() [1/2]

◆ setGains() [2/2]

◆ setManualInput()

◆ setMode()

◆ setModelReferenceControl()

◆ setParams()

◆ setReferenceWeighting()

◆ setSaturation()

◆ setSeries()

◆ setup() [1/2]

◆ setup() [2/2]

◆ unbindAutoTuning()