PIDController

Module that applies PID control independently to each of its inputs. All inputs and the control output can be filtered using the exponentially moving average. The filter constant is set by the parameters Fs, Fm and Fc. Also the error used for propertional, integral and derivative control can be filtered by setting the constants Fp, Fi and Fd to a value below 1. The integrator will not integerate the error when the control output has reached its minimum or maximum.

Example XML definition

A simple example

  <module
      class = "PIDController"
      name = "PIDController"
      Kp = "0.1"
      Kd = "0.1"
      Ki = "0.1"
  />

Parameters

Name	Description	Type	Default
class	The class name for the module; must be "PIDController".	string
name	The name of this instance of the module.	string
Kb	The controller bias	float	0.0
Kp	The proportional gain	float	0.1
Ki	The integral gain	float	0.0
Kd	The derivative gain	float	0.0
Fs	Set-point filter constant	float	0.0
Fm	Measurement filter constant	float	0.0
Fp	Proportional error filter constant	float	0.0
Fi	Integral error filter constant	float	0.0
Fd	Differential error filter constant	float	0.0
Fc	Control filter constant	float	0.0
Cmax	Maximum control output	float	1000.0
Cmin	Minimum control output	float	-1000.0

Module Connections

Inputs

Name	Description
INPUT	The curent signal
SETPOINT	The desired value

Outputs

Name	Description
OUTPUT	The control output.
DELTA	The current deviation from the set point.
FILTERED_SETPOINT	Set point filtered by exponentially moving average.
FILTERED_INPUT	Input filtered by exponentially moving average.
FILTERED_ERROR_P	Error term used for proportional control filtered by exponentially moving average.
FILTERED_ERROR_I	Error term used for integral control filtered by exponentially moving average.
FILTERED_ERROR_D	Error term used for derivate control filtered by exponentially moving average
INTEGRAL	The current integrated error.

Author

Christian Balkenius
christian.balkenius@lucs.lu.se
Lund University Cognitive Science

Files

PIDController.h
PIDController.cc
PIDController.ikc