General structure of parallel (non-interactive) PID. More...

#include <pids.h>

Inheritance diagram for iCub::ctrl::parallelPID:

Public Member Functions
	parallelPID (const double _Ts, const yarp::sig::Vector &_Kp, const yarp::sig::Vector &_Ki, const yarp::sig::Vector &_Kd, const yarp::sig::Vector &_Wp, const yarp::sig::Vector &_Wi, const yarp::sig::Vector &_Wd, const yarp::sig::Vector &_N, const yarp::sig::Vector &_Tt, const yarp::sig::Matrix &_satLim)
	Constructor.

virtual const yarp::sig::Vector &	compute (const yarp::sig::Vector &ref, const yarp::sig::Vector &fb)
	Computes the PID output.

virtual void	reset (const yarp::sig::Vector &u0)
	Resets the internal state of integral and derivative part.

virtual void	getOptions (yarp::os::Bottle &options)
	Returns the current options used by the pid.

virtual void	setOptions (const yarp::os::Bottle &options)
	Update the options used by the pid.

	~parallelPID ()
	Destructor.

Protected Attributes
yarp::sig::Vector	Kp

yarp::sig::Vector	Ki

yarp::sig::Vector	Kd

yarp::sig::Vector	Wp

yarp::sig::Vector	Wi

yarp::sig::Vector	Wd

yarp::sig::Vector	N

yarp::sig::Vector	Tt

yarp::sig::Matrix	satLim

yarp::sig::Vector	P

yarp::sig::Vector	I

yarp::sig::Vector	D

yarp::sig::Vector	u

yarp::sig::Vector	uSat

unsigned int	dim

double	Ts

Integrator *	Int

std::deque< Filter * >	Der

Additional Inherited Members
Static Public Member Functions inherited from iCub::ctrl::helperPID
static void	addVectorToOption (yarp::os::Bottle &option, const char *key, const yarp::sig::Vector &val)
	Add the data contained in the specified vector to the specified bottle, using property-like form (i.e.

static bool	getVectorFromOption (const yarp::os::Bottle &options, const char *key, yarp::sig::Vector &val, int &size)
	Fill the specified vector with the data associated with the specified key in the specified property-like bottle.

Detailed Description

General structure of parallel (non-interactive) PID.

u = sat(P + I + D)

Components expressed in Laplace transform:

\( e_p=W_p*ref-fb \)
\( e_i=W_i*ref-fb \)
\( e_d=W_d*ref-fb \)
\( P=K_p*e_p \)
\( I=(K_i*e_i+(sat(u)-u)/T_t)/s \)
\( D=K_d*e_d \cdot s/(1+s \cdot T_d/N); \quad [T_d=K_d/K_p] \)

Definition at line 210 of file pids.h.

Constructor & Destructor Documentation

◆ parallelPID()

iCub::ctrl::parallelPID::parallelPID	(	const double	_Ts,
		const yarp::sig::Vector &	_Kp,
		const yarp::sig::Vector &	_Ki,
		const yarp::sig::Vector &	_Kd,
		const yarp::sig::Vector &	_Wp,
		const yarp::sig::Vector &	_Wi,
		const yarp::sig::Vector &	_Wd,
		const yarp::sig::Vector &	_N,
		const yarp::sig::Vector &	_Tt,
		const yarp::sig::Matrix &	_satLim
	)

Constructor.

Parameters

_Ts	is the block sample time in seconds.
_Kp	are the proportional gains.
_Ki	are the integral gains.
_Kd	are the derivative gains.
_Wp	are the setpoint weigths for proportional part.
_Wi	are the setpoint weigths for integral part.
_Wd	are the setpoint weigths for derivative part.
_N	are derivative low-pass filter bandwidth (3 to 20, typ. 10, must be > 0).
_Tt	are anti-windup reset time (0.1 to 1 times the value of Ti=Kp/Ki, greater than Td).
_satLim	is the saturation thresholds matrix (min_i=satLim(i,0), max_i=satLim(i,1)).

◆ ~parallelPID()

parallelPID::~parallelPID ( )

Destructor.

Definition at line 373 of file pids.cpp.

Member Function Documentation

◆ compute()

const Vector & parallelPID::compute	(	const yarp::sig::Vector &	ref,
		const yarp::sig::Vector &	fb
	)

virtual

Computes the PID output.

Parameters

ref	the actual reference to track.
fb	the actual plant feedback.

Returns: the actual PID output.

Definition at line 213 of file pids.cpp.

◆ getOptions()

void parallelPID::getOptions ( yarp::os::Bottle & options )

virtual

Returns the current options used by the pid.

Parameters

options is a property-like bottle containing the current configuration used by the pid.

Note: The returned bottle looks like as follows: (Kp (1 2 ...)) (Ki (1 2 ...)) (Kd (1 2 ...)) (Wp (...)) ...; the satLim property is returned ordered by rows.

Definition at line 264 of file pids.cpp.

◆ reset()

void parallelPID::reset ( const yarp::sig::Vector & u0 )

virtual

Resets the internal state of integral and derivative part.

Parameters

u0	is the new value of output vector.

Definition at line 247 of file pids.cpp.

◆ setOptions()

void parallelPID::setOptions ( const yarp::os::Bottle & options )

virtual

Update the options used by the pid.

Parameters

options is a property-like bottle containing the new configuration used by the pid.

Note: The property parameter should look like as follows: (Kp (1 2 ...)) (Ki (1 2 ...)) (Kd (1 2 ...)) (Wp (...)) ...; The vectors dimension at pid creation time is always retained.; The satLim property must be given ordered by rows.; The special property (reset (u0[0] u0[1] ...)) serves to call the reset(u0) method straightaway.

Definition at line 289 of file pids.cpp.

Member Data Documentation

◆ D

yarp::sig::Vector iCub::ctrl::parallelPID::D

protected

Definition at line 231 of file pids.h.

◆ Der

std::deque<Filter*> iCub::ctrl::parallelPID::Der

protected

Definition at line 239 of file pids.h.

◆ dim

unsigned int iCub::ctrl::parallelPID::dim

protected

Definition at line 235 of file pids.h.

◆ I

yarp::sig::Vector iCub::ctrl::parallelPID::I

protected

Definition at line 230 of file pids.h.

◆ Int

Integrator* iCub::ctrl::parallelPID::Int

protected

Definition at line 238 of file pids.h.

◆ Kd

yarp::sig::Vector iCub::ctrl::parallelPID::Kd

protected

Definition at line 219 of file pids.h.

◆ Ki

yarp::sig::Vector iCub::ctrl::parallelPID::Ki

protected

Definition at line 218 of file pids.h.

◆ Kp

yarp::sig::Vector iCub::ctrl::parallelPID::Kp

protected

Definition at line 217 of file pids.h.

◆ N

yarp::sig::Vector iCub::ctrl::parallelPID::N

protected

Definition at line 225 of file pids.h.

◆ P

yarp::sig::Vector iCub::ctrl::parallelPID::P

protected

Definition at line 229 of file pids.h.

◆ satLim

yarp::sig::Matrix iCub::ctrl::parallelPID::satLim

protected

Definition at line 227 of file pids.h.

◆ Ts

double iCub::ctrl::parallelPID::Ts

protected

Definition at line 236 of file pids.h.

◆ Tt

yarp::sig::Vector iCub::ctrl::parallelPID::Tt

protected

Definition at line 226 of file pids.h.

◆ u

yarp::sig::Vector iCub::ctrl::parallelPID::u

protected

Definition at line 232 of file pids.h.

◆ uSat

yarp::sig::Vector iCub::ctrl::parallelPID::uSat

protected

Definition at line 233 of file pids.h.

◆ Wd

yarp::sig::Vector iCub::ctrl::parallelPID::Wd

protected

Definition at line 223 of file pids.h.

◆ Wi

yarp::sig::Vector iCub::ctrl::parallelPID::Wi

protected

Definition at line 222 of file pids.h.

◆ Wp

yarp::sig::Vector iCub::ctrl::parallelPID::Wp

protected

Definition at line 221 of file pids.h.

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

icub-main/src/libraries/ctrlLib/include/iCub/ctrl/pids.h
icub-main/src/libraries/ctrlLib/src/pids.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ parallelPID()

◆ ~parallelPID()

Member Function Documentation

◆ compute()

◆ getOptions()

◆ reset()

◆ setOptions()

Member Data Documentation

◆ D

◆ Der

◆ dim

◆ I

◆ Int

◆ Kd

◆ Ki

◆ Kp

◆ N

◆ P

◆ satLim

◆ Ts

◆ Tt

◆ u

◆ uSat

◆ Wd

◆ Wi

◆ Wp