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TECS: Do not even calculate integrator state if integrator gain is zero

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This commit is contained in:
Philipp Oettershagen
2018-06-29 16:41:43 +02:00
committed by Lorenz Meier
parent ccfba49971
commit b3959fab2f
1 changed files with 36 additions and 30 deletions
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tecs/tecs.cpp
+36 -30
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@@ -358,26 +358,28 @@ void TECS::_update_throttle_setpoint(const float throttle_cruise, const matrix::
_last_throttle_setpoint = _throttle_setpoint; _last_throttle_setpoint = _throttle_setpoint;
// Calculate throttle integrator state upper and lower limits with allowance for if (_integrator_gain > 0.0f) {
// 10% throttle saturation to accommodate noise on the demand. However, if the // Calculate throttle integrator state upper and lower limits with allowance for
// integrator gain is zero, also force integrator state to zero, otherwise it could // 10% throttle saturation to accommodate noise on the demand.
// stay at a large constant value float integ_state_max = _throttle_setpoint_max - _throttle_setpoint + 0.1f;
float integ_state_max = _integrator_gain > 0.001f ? (_throttle_setpoint_max - _throttle_setpoint + 0.1f) : 0.0f; float integ_state_min = _throttle_setpoint_min - _throttle_setpoint - 0.1f;
float integ_state_min = _integrator_gain > 0.001f ? (_throttle_setpoint_min - _throttle_setpoint - 0.1f) : 0.0f;
// Calculate a throttle demand from the integrated total energy error // Calculate a throttle demand from the integrated total energy error
// This will be added to the total throttle demand to compensate for steady state errors // This will be added to the total throttle demand to compensate for steady state errors
_throttle_integ_state = _throttle_integ_state + (_STE_error * _integrator_gain) * _dt * STE_to_throttle; _throttle_integ_state = _throttle_integ_state + (_STE_error * _integrator_gain) * _dt * STE_to_throttle;
if (_climbout_mode_active) { if (_climbout_mode_active) {
// During climbout, set the integrator to maximum throttle to prevent transient throttle drop // During climbout, set the integrator to maximum throttle to prevent transient throttle drop
// at end of climbout when we transition to closed loop throttle control // at end of climbout when we transition to closed loop throttle control
_throttle_integ_state = integ_state_max; _throttle_integ_state = integ_state_max;
} else {
// Respect integrator limits during closed loop operation.
_throttle_integ_state = constrain(_throttle_integ_state, integ_state_min, integ_state_max);
}
} else { } else {
// Respect integrator limits during closed loop operation. _throttle_integ_state = 0.0f;
_throttle_integ_state = constrain(_throttle_integ_state, integ_state_min, integ_state_max);
} }
if (airspeed_sensor_enabled()) { if (airspeed_sensor_enabled()) {
@@ -461,24 +463,28 @@ void TECS::_update_pitch_setpoint()
// Calculate derivative from change in climb angle to rate of change of specific energy balance // Calculate derivative from change in climb angle to rate of change of specific energy balance
float climb_angle_to_SEB_rate = _tas_state * _pitch_time_constant * CONSTANTS_ONE_G; float climb_angle_to_SEB_rate = _tas_state * _pitch_time_constant * CONSTANTS_ONE_G;
// Calculate pitch integrator input term if (_integrator_gain > 0.0f) {
float pitch_integ_input = _SEB_error * _integrator_gain; // Calculate pitch integrator input term
float pitch_integ_input = _SEB_error * _integrator_gain;
// Prevent the integrator changing in a direction that will increase pitch demand saturation // Prevent the integrator changing in a direction that will increase pitch demand saturation
// Decay the integrator at the control loop time constant if the pitch demand from the previous time step is saturated // Decay the integrator at the control loop time constant if the pitch demand from the previous time step is saturated
if (_pitch_setpoint_unc > _pitch_setpoint_max) { if (_pitch_setpoint_unc > _pitch_setpoint_max) {
pitch_integ_input = min(pitch_integ_input, pitch_integ_input = min(pitch_integ_input,
min((_pitch_setpoint_max - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f)); min((_pitch_setpoint_max - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f));
} else if (_pitch_setpoint_unc < _pitch_setpoint_min) { } else if (_pitch_setpoint_unc < _pitch_setpoint_min) {
pitch_integ_input = max(pitch_integ_input, pitch_integ_input = max(pitch_integ_input,
max((_pitch_setpoint_min - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f)); max((_pitch_setpoint_min - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f));
}
// Update the pitch integrator state.
_pitch_integ_state = _pitch_integ_state + pitch_integ_input * _dt;
} else {
_pitch_integ_state = 0.0f;
} }
// Update the pitch integrator state. If gain is zero, force state to zero, too, to avoid that it stays at large constant values
_pitch_integ_state = _pitch_integ_state + pitch_integ_input * _dt;
if(_integrator_gain < 0.001f) _pitch_integ_state = 0.0f;
// Calculate a specific energy correction that doesn't include the integrator contribution // Calculate a specific energy correction that doesn't include the integrator contribution
float SEB_correction = _SEB_error + _SEB_rate_error * _pitch_damping_gain + SEB_rate_setpoint * _pitch_time_constant; float SEB_correction = _SEB_error + _SEB_rate_error * _pitch_damping_gain + SEB_rate_setpoint * _pitch_time_constant;