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libdsp/lib_pid.c: add anti-windup protection with decay coefficient and add interface to select anti-windup mechanism

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This commit is contained in:
raiden00pl
2021-02-28 22:20:54 +01:00
committed by Xiang Xiao
parent 15b0ae716c
commit b34dd2d96a
2 changed files with 97 additions and 34 deletions
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include/dsp.h
+21 -11
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@@ -177,17 +177,24 @@ typedef struct float_sat_f32_s float_sat_f32_t;
struct pid_controller_f32_s
{
float out; /* Controller output */
float_sat_f32_t sat; /* Output saturation */
float err; /* Current error value */
float err_prev; /* Previous error value */
float KP; /* Proportional coefficient */
float KI; /* Integral coefficient */
float KD; /* Derivative coefficient */
float part[3]; /* 0 - proporitonal part
* 1 - integral part
* 2 - derivative part
*/
bool aw_en; /* Integral part decay if saturated */
bool ireset_en; /* Intergral part reset if saturated */
bool pisat_en; /* PI saturation enabled */
bool pidsat_en; /* PID saturation enabled */
bool _res; /* Reserved */
float out; /* Controller output */
float_sat_f32_t sat; /* Output saturation */
float err; /* Current error value */
float err_prev; /* Previous error value */
float KP; /* Proportional coefficient */
float KI; /* Integral coefficient */
float KD; /* Derivative coefficient */
float part[3]; /* 0 - proporitonal part
* 1 - integral part
* 2 - derivative part
*/
float KC; /* Integral anti-windup decay coefficient */
float aw; /* Integral anti-windup decay part */
};
typedef struct pid_controller_f32_s pid_controller_f32_t;
@@ -390,6 +397,9 @@ void pid_integral_reset(FAR pid_controller_f32_t *pid);
void pi_integral_reset(FAR pid_controller_f32_t *pid);
float pi_controller(FAR pid_controller_f32_t *pid, float err);
float pid_controller(FAR pid_controller_f32_t *pid, float err);
void pi_antiwindup_enable(FAR pid_controller_f32_t *pid, float KC,
bool enable);
void pi_ireset_enable(FAR pid_controller_f32_t *pid, bool enable);
/* Transformation functions */