iCub::ctrl::seriesPID Class Reference

General structure of series (interactive) PID. More...

#include <pids.h>

Inheritance diagram for iCub::ctrl::seriesPID:

Public Member Functions
	seriesPID (const double _Ts, const yarp::sig::Vector &_Kp, const yarp::sig::Vector &_Ti, const yarp::sig::Vector &_Kd, const yarp::sig::Vector &_N, 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 ()
	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.
	~seriesPID ()
	Destructor.

Protected Attributes
yarp::sig::Vector	Kp
yarp::sig::Vector	Ti
yarp::sig::Vector	Kd
yarp::sig::Vector	N
yarp::sig::Matrix	satLim
yarp::sig::Vector	e
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
std::deque< Filter * >	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 series (interactive) PID.

u = sat((P + I) * (1 + D) * (ref-fb))

Components expressed in Laplace transform:

• \( P=K_p \)
• \( I=K_p/(T_i*s) \)
• \( D=K_d \cdot s/(1+s \cdot T_d/N); \quad [T_d=K_d/K_p] \)

Definition at line 323 of file pids.h.

Constructor & Destructor Documentation

seriesPID()

iCub::ctrl::seriesPID::seriesPID	(	const double	_Ts,
		const yarp::sig::Vector &	_Kp,
		const yarp::sig::Vector &	_Ti,
		const yarp::sig::Vector &	_Kd,
		const yarp::sig::Vector &	_N,
		const yarp::sig::Matrix &	_satLim
	)

Constructor.

Parameters

_Ts	is the block sample time in seconds.
_Kp	are the proportional gains.
_Ti	are the integral time constants (so that integral part cannot be switched off).
_Kd	are the derivative gains.
_N	are derivative low-pass filter bandwidth (3 to 20, typ. 10, must be > 0).
_satLim	is the saturation thresholds matrix (min_i=satLim(i,0), max_i=satLim(i,1)).

~seriesPID()

seriesPID::~seriesPID

(

)

Destructor.

Definition at line 578 of file pids.cpp.

Member Function Documentation

compute()

const Vector & seriesPID::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 428 of file pids.cpp.

getOptions()

void seriesPID::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 ...)) (Ti (1 2 ...)) (Kd (1 2 ...)) (N (...)) ...

The satLim property is returned ordered by rows.

Definition at line 480 of file pids.cpp.

reset()

void seriesPID::reset ( )

virtual

Resets the internal state of integral and derivative part.

Definition at line 468 of file pids.cpp.

setOptions()

void seriesPID::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 ...)) (Ti (1 2 ...)) (Kd (1 2 ...)) (N (...)) ...

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 501 of file pids.cpp.

Member Data Documentation

D

yarp::sig::Vector iCub::ctrl::seriesPID::D

protected

Definition at line 340 of file pids.h.

Der

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

protected

Definition at line 348 of file pids.h.

dim

unsigned int iCub::ctrl::seriesPID::dim

protected

Definition at line 344 of file pids.h.

e

yarp::sig::Vector iCub::ctrl::seriesPID::e

protected

Definition at line 337 of file pids.h.

I

yarp::sig::Vector iCub::ctrl::seriesPID::I

protected

Definition at line 339 of file pids.h.

Int

std::deque<Filter*> iCub::ctrl::seriesPID::Int

protected

Definition at line 347 of file pids.h.

Kd

yarp::sig::Vector iCub::ctrl::seriesPID::Kd

protected

Definition at line 332 of file pids.h.

Kp

yarp::sig::Vector iCub::ctrl::seriesPID::Kp

protected

Definition at line 330 of file pids.h.

N

yarp::sig::Vector iCub::ctrl::seriesPID::N

protected

Definition at line 334 of file pids.h.

P

yarp::sig::Vector iCub::ctrl::seriesPID::P

protected

Definition at line 338 of file pids.h.

satLim

yarp::sig::Matrix iCub::ctrl::seriesPID::satLim

protected

Definition at line 335 of file pids.h.

Ti

yarp::sig::Vector iCub::ctrl::seriesPID::Ti

protected

Definition at line 331 of file pids.h.

Ts

double iCub::ctrl::seriesPID::Ts

protected

Definition at line 345 of file pids.h.

u

yarp::sig::Vector iCub::ctrl::seriesPID::u

protected

Definition at line 341 of file pids.h.

uSat

yarp::sig::Vector iCub::ctrl::seriesPID::uSat

protected

Definition at line 342 of file pids.h.

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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