通用 PID 控制器类。 Generic PID controller. More...

#include <pid.hpp>

Collaboration diagram for LibXR::PID< Scalar >:

Data Structures
struct	Param
	PID 参数结构体。 Structure holding PID parameters. More...

Public Member Functions
	PID (const Param PARAM)
	构造 PID 控制器。 Construct a PID controller.

Scalar	Calculate (Scalar sp, Scalar fb, Scalar dt)
	使用反馈值计算 PID 输出。 Compute output from feedback only. out = k(perr + i∫errdt - d(fb-last_fb)/dt)

Scalar	Calculate (Scalar sp, Scalar fb, Scalar fb_dot, Scalar dt)
	使用外部导数计算 PID 输出。 Compute output using external feedback derivative. out = k(perr + i∫errdt - dfb_dot*dt)

void	SetK (Scalar k)
	设置全局比例系数 Set global proportional gain

void	SetP (Scalar p)
	设置 P 项系数 Set proportional gain

void	SetI (Scalar i)
	设置 I 项系数 Set integral gain

void	SetD (Scalar d)
	设置 D 项系数 Set derivative gain

void	SetILimit (Scalar limit)
	设置积分限幅 Set integral limit

void	SetOutLimit (Scalar limit)
	设置输出限幅 Set output limit

Scalar	K () const
	获取全局比例系数 Get global proportional gain

Scalar	P () const
	获取 P 项系数 Get proportional gain

Scalar	I () const
	获取 I 项系数 Get integral gain

Scalar	D () const
	获取 D 项系数 Get derivative gain

Scalar	ILimit () const
	获取积分限幅 Get integral limit

Scalar	OutLimit () const
	获取输出限幅 Get output limit

Scalar	LastError () const
	获取上一次误差 Get last error

Scalar	LastFeedback () const
	获取上一次反馈值 Get last feedback

Scalar	LastOutput () const
	获取上一次输出 Get last output

Scalar	LastDerivative () const
	获取上一次导数 Get last derivative

void	Reset ()
	重置控制器状态。 Reset all internal states.

void	SetIntegralError (Scalar err)
	设置累计误差 Set integral error

Scalar	GetIntegralError () const
	获取累计误差 Get integral error

void	SetFeedForward (Scalar feed_forward)
	设置前馈项 Set feedforward

Scalar	GetFeedForward () const
	获取前馈项 Get feedforward

Private Attributes
Param	param_
	PID 参数 PID parameter set.

Scalar	i_ = 0
	积分状态 Integral state

Scalar	last_err_ = 0
	上次误差 Last error

Scalar	last_fb_ = 0
	上次反馈 Last feedback

Scalar	last_der_ = 0
	上次导数 Last derivative

Scalar	last_out_ = 0
	上次输出 Last output

Scalar	feed_forward_ = 0
	前馈项 Feedforward term

Detailed Description

template<typename Scalar = DefaultScalar>
class LibXR::PID< Scalar >

通用 PID 控制器类。 Generic PID controller.

支持周期角度处理、积分限幅与输出限幅，适用于基础控制应用。 Supports cyclic inputs, integral/output saturation. No derivative filtering.

Template Parameters

Scalar 控制器标量类型，默认为 DefaultScalar。 Scalar type for internal calculations.

Definition at line 26 of file pid.hpp.

Constructor & Destructor Documentation

◆ PID()

template<typename Scalar = DefaultScalar>

LibXR::PID< Scalar >::PID ( const Param PARAM )

inline

构造 PID 控制器。 Construct a PID controller.

Parameters

param PID 参数结构体。 PID parameter struct.

Definition at line 51 of file pid.hpp.

51: param_(std::move(PARAM)) { Reset(); }

LibXR::PID::Reset

void Reset()

重置控制器状态。 Reset all internal states.

Definition pid.hpp:214

LibXR::PID::param_

Param param_

PID 参数 PID parameter set.

Definition pid.hpp:252

LibXR::min

constexpr auto min(T1 a, T2 b) -> typename std::common_type< T1, T2 >::type

计算两个数的最小值

Definition libxr_def.hpp:161

Member Function Documentation

◆ Calculate() [1/2]

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::Calculate	(	Scalar	sp,
		Scalar	fb,
		Scalar	dt
	)

inline

使用反馈值计算 PID 输出。 Compute output from feedback only. out = k(p*err + i*∫err*dt - d*(fb-last_fb)/dt)

Parameters

sp	期望值 Setpoint
fb	反馈值 Feedback
dt	控制周期（秒） Time step in seconds

Returns: 控制器输出 Controller output

Definition at line 63 of file pid.hpp.

  {
    if (!std::isfinite(sp) || !std::isfinite(fb) || !std::isfinite(dt))
    {
      return last_out_;
    }
 
    // Compute error
    Scalar err = param_.cycle ? CycleValue<Scalar>(sp) - fb : sp - fb;
    Scalar k_err = err * param_.k;
 
    // Derivative from feedback change
    fb *= param_.k;
    Scalar d = (fb - last_fb_) / dt;
    if (!std::isfinite(d))
    {
      d = 0;
    }
 
    // Compute PD
    Scalar output = (k_err * param_.p) - (d * param_.d);
 
    // Integrate if within limits
    Scalar i_term = i_ + k_err * dt;
    Scalar i_out = i_term * param_.i;
 
    if (param_.i > PID_SIGMA && std::isfinite(i_term))
    {
      if (std::abs(output + i_out) <= param_.out_limit &&
          std::abs(i_term) <= param_.i_limit)
      {
        i_ = i_term;
      }
    }
 
    // Apply output limits
    output += i_out;
    output += feed_forward_;
    if (std::isfinite(output) && param_.out_limit > PID_SIGMA)
    {
      output = std::clamp(output, -param_.out_limit, param_.out_limit);
    }
 
    // Store states
    last_err_ = err;
    last_fb_ = fb;
    last_out_ = output;
    last_der_ = d;
    return output;
  }

◆ Calculate() [2/2]

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::Calculate	(	Scalar	sp,
		Scalar	fb,
		Scalar	fb_dot,
		Scalar	dt
	)

inline

使用外部导数计算 PID 输出。 Compute output using external feedback derivative. out = k(p*err + i*∫err*dt - d*fb_dot*dt)

Parameters

sp	期望值 Setpoint
fb	反馈值 Feedback
fb_dot	反馈导数 Feedback rate
dt	控制周期 Delta time

Returns: 控制器输出 Controller output

Definition at line 125 of file pid.hpp.

  {
    if (!std::isfinite(sp) || !std::isfinite(fb) || !std::isfinite(fb_dot) ||
        !std::isfinite(dt))
    {
      return last_out_;
    }
 
    // Compute error
    Scalar err = param_.cycle ? CycleValue<Scalar>(sp) - fb : sp - fb;
    Scalar k_err = err * param_.k;
 
    // Use externally provided derivative
    Scalar d = fb_dot;
    if (!std::isfinite(d))
    {
      d = 0;
    }
 
    // Compute PD
    Scalar output = (k_err * param_.p) - (d * param_.d);
 
    // Integrate if within limits
    Scalar i_term = i_ + k_err * dt;
    Scalar i_out = i_term * param_.i;
 
    if (param_.i > PID_SIGMA && std::isfinite(i_term))
    {
      if (std::abs(output + i_out) <= param_.out_limit &&
          std::abs(i_term) <= param_.i_limit)
      {
        i_ = i_term;
      }
    }
 
    // Apply output limits
    output += i_out;
    output += feed_forward_;
    if (std::isfinite(output) && param_.out_limit > PID_SIGMA)
    {
      output = std::clamp(output, -param_.out_limit, param_.out_limit);
    }
 
    // Store states
    last_err_ = err;
    last_fb_ = fb;
    last_out_ = output;
    last_der_ = d;
    return output;
  }

◆ D()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::D ( ) const

inline

获取 D 项系数 Get derivative gain

Definition at line 196 of file pid.hpp.

196{ return param_.d; }

◆ GetFeedForward()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::GetFeedForward ( ) const

inline

获取前馈项 Get feedforward

Returns: 前馈项 Feedforward

Definition at line 249 of file pid.hpp.

249{ return feed_forward_; }

◆ GetIntegralError()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::GetIntegralError ( ) const

inline

获取累计误差 Get integral error

Returns: 累计误差 Integral error

Definition at line 234 of file pid.hpp.

234{ return i_; }

◆ I()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::I ( ) const

inline

获取 I 项系数 Get integral gain

Definition at line 194 of file pid.hpp.

194{ return param_.i; }

◆ ILimit()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::ILimit ( ) const

inline

获取积分限幅 Get integral limit

Definition at line 198 of file pid.hpp.

198{ return param_.i_limit; }

◆ K()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::K ( ) const

inline

获取全局比例系数 Get global proportional gain

Definition at line 190 of file pid.hpp.

190{ return param_.k; }

◆ LastDerivative()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::LastDerivative ( ) const

inline

获取上一次导数 Get last derivative

Definition at line 208 of file pid.hpp.

208{ return last_der_; }

◆ LastError()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::LastError ( ) const

inline

获取上一次误差 Get last error

Definition at line 202 of file pid.hpp.

202{ return last_err_; }

◆ LastFeedback()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::LastFeedback ( ) const

inline

获取上一次反馈值 Get last feedback

Definition at line 204 of file pid.hpp.

204{ return last_fb_; }

◆ LastOutput()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::LastOutput ( ) const

inline

获取上一次输出 Get last output

Definition at line 206 of file pid.hpp.

206{ return last_out_; }

◆ OutLimit()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::OutLimit ( ) const

inline

获取输出限幅 Get output limit

Definition at line 200 of file pid.hpp.

200{ return param_.out_limit; }

◆ P()

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::P ( ) const

inline

获取 P 项系数 Get proportional gain

Definition at line 192 of file pid.hpp.

192{ return param_.p; }

◆ Reset()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::Reset ( )

inline

重置控制器状态。 Reset all internal states.

Definition at line 214 of file pid.hpp.

  {
    i_ = 0;
    last_err_ = 0;
    last_fb_ = 0;
    last_out_ = 0;
  }

◆ SetD()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::SetD ( Scalar d )

inline

设置 D 项系数 Set derivative gain

Definition at line 183 of file pid.hpp.

183{ param_.d = d; }

◆ SetFeedForward()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::SetFeedForward ( Scalar feed_forward )

inline

设置前馈项 Set feedforward

Parameters

feed_forward 前馈项 Feedforward

Definition at line 241 of file pid.hpp.

241{ feed_forward_ = feed_forward; }

◆ SetI()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::SetI ( Scalar i )

inline

设置 I 项系数 Set integral gain

Definition at line 181 of file pid.hpp.

181{ param_.i = i; }

◆ SetILimit()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::SetILimit ( Scalar limit )

inline

设置积分限幅 Set integral limit

Definition at line 185 of file pid.hpp.

185{ param_.i_limit = limit; }

◆ SetIntegralError()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::SetIntegralError ( Scalar err )

inline

设置累计误差 Set integral error

Parameters

err	累计误差 Integral error

Definition at line 227 of file pid.hpp.

227{ i_ = err; }

◆ SetK()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::SetK ( Scalar k )

inline

设置全局比例系数 Set global proportional gain

Definition at line 177 of file pid.hpp.

177{ param_.k = k; }

◆ SetOutLimit()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::SetOutLimit ( Scalar limit )

inline

设置输出限幅 Set output limit

Definition at line 187 of file pid.hpp.

187{ param_.out_limit = limit; }

◆ SetP()

template<typename Scalar = DefaultScalar>

void LibXR::PID< Scalar >::SetP ( Scalar p )

inline

设置 P 项系数 Set proportional gain

Definition at line 179 of file pid.hpp.

179{ param_.p = p; }

Field Documentation

◆ feed_forward_

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::feed_forward_ = 0

private

前馈项 Feedforward term

Definition at line 258 of file pid.hpp.

◆ i_

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::i_ = 0

private

积分状态 Integral state

Definition at line 253 of file pid.hpp.

◆ last_der_

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::last_der_ = 0

private

上次导数 Last derivative

Definition at line 256 of file pid.hpp.

◆ last_err_

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::last_err_ = 0

private

上次误差 Last error

Definition at line 254 of file pid.hpp.

◆ last_fb_

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::last_fb_ = 0

private

上次反馈 Last feedback

Definition at line 255 of file pid.hpp.

◆ last_out_

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::last_out_ = 0

private

上次输出 Last output

Definition at line 257 of file pid.hpp.

◆ param_

template<typename Scalar = DefaultScalar>

Param LibXR::PID< Scalar >::param_

private

PID 参数 PID parameter set.

Definition at line 252 of file pid.hpp.

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

src/utils/pid.hpp

Data Structures

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PID()

Member Function Documentation

◆ Calculate() [1/2]

◆ Calculate() [2/2]

◆ D()

◆ GetFeedForward()

◆ GetIntegralError()

◆ I()

◆ ILimit()

◆ K()

◆ LastDerivative()

◆ LastError()

◆ LastFeedback()

◆ LastOutput()

◆ OutLimit()

◆ P()

◆ Reset()

◆ SetD()

◆ SetFeedForward()

◆ SetI()

◆ SetILimit()

◆ SetIntegralError()

◆ SetK()

◆ SetOutLimit()

◆ SetP()

Field Documentation

◆ feed_forward_

◆ i_

◆ last_der_

◆ last_err_

◆ last_fb_

◆ last_out_

◆ param_