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MoreTore
68 lines
1.8 KiB
Python
68 lines
1.8 KiB
Python
import numpy as np
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from numbers import Number
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class PIDController:
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def __init__(self, k_p, k_i, k_f=1., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
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self._k_p = k_p
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self._k_i = k_i
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self._k_d = k_d
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self.k_f = k_f # feedforward gain
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if isinstance(self._k_p, Number):
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self._k_p = [[0], [self._k_p]]
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if isinstance(self._k_i, Number):
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self._k_i = [[0], [self._k_i]]
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if isinstance(self._k_d, Number):
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self._k_d = [[0], [self._k_d]]
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self.set_limits(pos_limit, neg_limit)
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self.i_dt = 1.0 / rate
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self.speed = 0.0
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self.reset()
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@property
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def k_p(self):
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return np.interp(self.speed, self._k_p[0], self._k_p[1])
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@property
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def k_i(self):
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return np.interp(self.speed, self._k_i[0], self._k_i[1])
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@property
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def k_d(self):
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return np.interp(self.speed, self._k_d[0], self._k_d[1])
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def reset(self):
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self.p = 0.0
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self.i = 0.0
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self.d = 0.0
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self.f = 0.0
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self.control = 0
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def set_limits(self, pos_limit, neg_limit):
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self.pos_limit = pos_limit
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self.neg_limit = neg_limit
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def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
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self.speed = speed
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self.p = self.k_p * float(error)
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self.d = self.k_d * error_rate
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self.f = self.k_f * feedforward
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i_candidate = self.i if freeze_integrator else self.i + self.k_i * self.i_dt * error
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u = self.p + i_candidate + self.d + self.f
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u_sat = np.clip(u, self.neg_limit, self.pos_limit)
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if u == u_sat:
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self.i = i_candidate
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else:
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if u > self.pos_limit and error < 0:
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self.i = i_candidate
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elif u < self.neg_limit and error > 0:
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self.i = i_candidate
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control = self.p + self.i + self.d + self.f
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self.control = np.clip(control, self.neg_limit, self.pos_limit)
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return self.control
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