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. More...

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

virtual void	reset ()
	Resets the internal state of integral and derivative part. More...

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

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

	~seriesPID ()
	Destructor. More...

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. More...

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. More...

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.

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

◆ seriesPID()

◆ ~seriesPID()

Member Function Documentation

◆ compute()

◆ getOptions()

◆ reset()

◆ setOptions()

Member Data Documentation

◆ D

◆ Der

◆ dim

◆ e

◆ I

◆ Int

◆ Kd

◆ Kp

◆ N

◆ P

◆ satLim

◆ Ti

◆ Ts

◆ u

◆ uSat