mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-18 14:48:28 -04:00
AP_WheelRateControl: lib to control wheel rate with encoders
This commit is contained in:
Randy Mackay
parent
912dd0c4cc
commit
785da8add9
188
libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
Normal file
188
libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
Normal file
@ -0,0 +1,188 @@
|
|||||||
|
#include <AP_WheelEncoder/AP_WheelRateControl.h>
|
||||||
|
|
||||||
|
extern const AP_HAL::HAL& hal;
|
||||||
|
|
||||||
|
const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
|
||||||
|
// @Param: _ENABLE
|
||||||
|
// @DisplayName: Wheel rate control enable/disable
|
||||||
|
// @Description: Enable or disable wheel rate control
|
||||||
|
// @Values: 0:Disabled,1:Enabled
|
||||||
|
// @User: Standard
|
||||||
|
AP_GROUPINFO_FLAGS("_ENABLE", 1, AP_WheelRateControl, _enabled, 0, AP_PARAM_FLAG_ENABLE),
|
||||||
|
|
||||||
|
// @Param: _RATE_MAX
|
||||||
|
// @DisplayName: Wheel max rotation rate
|
||||||
|
// @Description: Wheel max rotation rate
|
||||||
|
// @Units: rad/s
|
||||||
|
// @Range: 0 200
|
||||||
|
// @User: Standard
|
||||||
|
AP_GROUPINFO("_RATE_MAX", 2, AP_WheelRateControl, _rate_max, AP_WHEEL_RATE_MAX_DEFAULT),
|
||||||
|
|
||||||
|
// @Param: _RATE_FF
|
||||||
|
// @DisplayName: Wheel rate control feed forward gain
|
||||||
|
// @Description: Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)
|
||||||
|
// @Range: 0.100 2.000
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: _RATE_P
|
||||||
|
// @DisplayName: Wheel rate control P gain
|
||||||
|
// @Description: Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)
|
||||||
|
// @Range: 0.100 2.000
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: _RATE_I
|
||||||
|
// @DisplayName: Wheel rate control I gain
|
||||||
|
// @Description: Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual
|
||||||
|
// @Range: 0.000 2.000
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: _RATE_IMAX
|
||||||
|
// @DisplayName: Wheel rate control I gain maximum
|
||||||
|
// @Description: Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate
|
||||||
|
// @Range: 0.000 1.000
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: _RATE_D
|
||||||
|
// @DisplayName: Wheel rate control D gain
|
||||||
|
// @Description: Wheel rate control D gain. Compensates for short-term change in desired rate vs actual
|
||||||
|
// @Range: 0.000 0.400
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: _RATE_FILT
|
||||||
|
// @DisplayName: Wheel rate control filter frequency
|
||||||
|
// @Description: Wheel rate control input filter. Lower values reduce noise but add delay.
|
||||||
|
// @Range: 1.000 100.000
|
||||||
|
// @Units: Hz
|
||||||
|
// @User: Standard
|
||||||
|
AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID),
|
||||||
|
|
||||||
|
// @Param: 2_RATE_FF
|
||||||
|
// @DisplayName: Wheel rate control feed forward gain
|
||||||
|
// @Description: Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)
|
||||||
|
// @Range: 0.100 2.000
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: 2_RATE_P
|
||||||
|
// @DisplayName: Wheel rate control P gain
|
||||||
|
// @Description: Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)
|
||||||
|
// @Range: 0.100 2.000
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: 2_RATE_I
|
||||||
|
// @DisplayName: Wheel rate control I gain
|
||||||
|
// @Description: Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual
|
||||||
|
// @Range: 0.000 2.000
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: 2_RATE_IMAX
|
||||||
|
// @DisplayName: Wheel rate control I gain maximum
|
||||||
|
// @Description: Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate
|
||||||
|
// @Range: 0.000 1.000
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: 2_RATE_D
|
||||||
|
// @DisplayName: Wheel rate control D gain
|
||||||
|
// @Description: Wheel rate control D gain. Compensates for short-term change in desired rate vs actual
|
||||||
|
// @Range: 0.000 0.400
|
||||||
|
// @User: Standard
|
||||||
|
|
||||||
|
// @Param: 2_RATE_FILT
|
||||||
|
// @DisplayName: Wheel rate control filter frequency
|
||||||
|
// @Description: Wheel rate control input filter. Lower values reduce noise but add delay.
|
||||||
|
// @Range: 1.000 100.000
|
||||||
|
// @Units: Hz
|
||||||
|
// @User: Standard
|
||||||
|
AP_SUBGROUPINFO(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID),
|
||||||
|
|
||||||
|
AP_GROUPEND
|
||||||
|
};
|
||||||
|
|
||||||
|
AP_WheelRateControl::AP_WheelRateControl(const AP_WheelEncoder &wheel_encoder_ref) :
|
||||||
|
_wheel_encoder(wheel_encoder_ref)
|
||||||
|
{
|
||||||
|
AP_Param::setup_object_defaults(this, var_info);
|
||||||
|
}
|
||||||
|
|
||||||
|
// returns true if a wheel encoder and rate control PID are available for this instance
|
||||||
|
bool AP_WheelRateControl::enabled(uint8_t instance)
|
||||||
|
{
|
||||||
|
// sanity check instance
|
||||||
|
if ((instance > 1) || (_enabled == 0)) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
// wheel encoder enabled
|
||||||
|
return _wheel_encoder.enabled(instance);
|
||||||
|
}
|
||||||
|
|
||||||
|
// get throttle output in the range -100 to +100 given a desired rate expressed as a percentage of the rate_max (-100 to +100)
|
||||||
|
// instance can be 0 or 1
|
||||||
|
float AP_WheelRateControl::get_rate_controlled_throttle(uint8_t instance, float desired_rate_pct, float dt)
|
||||||
|
{
|
||||||
|
if (!enabled(instance)) {
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// determine which PID instance to use
|
||||||
|
AC_PID& rate_pid = (instance == 0) ? _rate_pid0 : _rate_pid1;
|
||||||
|
|
||||||
|
// set PID's dt
|
||||||
|
rate_pid.set_dt(dt);
|
||||||
|
|
||||||
|
// check for timeout
|
||||||
|
uint32_t now = AP_HAL::millis();
|
||||||
|
if (now - _last_update_ms > AP_WHEEL_RATE_CONTROL_TIMEOUT_MS) {
|
||||||
|
rate_pid.reset_filter();
|
||||||
|
rate_pid.reset_I();
|
||||||
|
_limit[instance].lower = false;
|
||||||
|
_limit[instance].upper = false;
|
||||||
|
}
|
||||||
|
_last_update_ms = now;
|
||||||
|
|
||||||
|
// convert desired rate as a percentage to radians/sec
|
||||||
|
float desired_rate = desired_rate_pct / 100.0f * get_rate_max_rads();
|
||||||
|
|
||||||
|
// get actual rate from wheeel encoder
|
||||||
|
float actual_rate = _wheel_encoder.get_rate(instance);
|
||||||
|
|
||||||
|
// calculate rate error and pass to pid controller
|
||||||
|
float rate_error = desired_rate - actual_rate;
|
||||||
|
rate_pid.set_input_filter_all(rate_error);
|
||||||
|
|
||||||
|
// store desired and actual for logging purposes
|
||||||
|
rate_pid.set_desired_rate(desired_rate);
|
||||||
|
rate_pid.set_actual_rate(actual_rate);
|
||||||
|
|
||||||
|
// get ff
|
||||||
|
float ff = rate_pid.get_ff(desired_rate);
|
||||||
|
|
||||||
|
// get p
|
||||||
|
float p = rate_pid.get_p();
|
||||||
|
|
||||||
|
// get i unless we hit limit on last iteration
|
||||||
|
float i = rate_pid.get_integrator();
|
||||||
|
if (((is_negative(rate_error) && !_limit[instance].lower) || (is_positive(rate_error) && !_limit[instance].upper))) {
|
||||||
|
i = rate_pid.get_i();
|
||||||
|
}
|
||||||
|
|
||||||
|
// get d
|
||||||
|
float d = rate_pid.get_d();
|
||||||
|
|
||||||
|
// constrain and set limit flags
|
||||||
|
float output = ff + p + i + d;
|
||||||
|
|
||||||
|
// set limits for next iteration
|
||||||
|
_limit[instance].upper = output >= 100.0f;
|
||||||
|
_limit[instance].lower = output <= -100.0f;
|
||||||
|
|
||||||
|
return output;
|
||||||
|
}
|
||||||
|
|
||||||
|
// get pid objects for reporting
|
||||||
|
AC_PID& AP_WheelRateControl::get_pid(uint8_t instance)
|
||||||
|
{
|
||||||
|
if (instance == 0) {
|
||||||
|
return _rate_pid0;
|
||||||
|
} else {
|
||||||
|
return _rate_pid0;
|
||||||
|
}
|
||||||
|
}
|
||||||
73
libraries/AP_WheelEncoder/AP_WheelRateControl.h
Normal file
73
libraries/AP_WheelEncoder/AP_WheelRateControl.h
Normal file
@ -0,0 +1,73 @@
|
|||||||
|
/*
|
||||||
|
This program is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <AP_Common/AP_Common.h>
|
||||||
|
#include <AP_Math/AP_Math.h>
|
||||||
|
#include <AP_Param/AP_Param.h>
|
||||||
|
#include <AC_PID/AC_PID.h>
|
||||||
|
#include <AP_WheelEncoder/AP_WheelEncoder.h>
|
||||||
|
|
||||||
|
// wheel rate control defaults
|
||||||
|
#define AP_WHEEL_RATE_MAX_DEFAULT 12.0f // maximum wheel rotation rate in rad/sec (about 115rpm, 687deg/sec)
|
||||||
|
#define AP_WHEEL_RATE_CONTROL_FF 8.00f
|
||||||
|
#define AP_WHEEL_RATE_CONTROL_P 2.00f
|
||||||
|
#define AP_WHEEL_RATE_CONTROL_I 2.00f
|
||||||
|
#define AP_WHEEL_RATE_CONTROL_IMAX 1.00f
|
||||||
|
#define AP_WHEEL_RATE_CONTROL_D 0.01f
|
||||||
|
#define AP_WHEEL_RATE_CONTROL_FILT 0.00f
|
||||||
|
#define AP_WHEEL_RATE_CONTROL_DT 0.02f
|
||||||
|
#define AP_WHEEL_RATE_CONTROL_TIMEOUT_MS 200
|
||||||
|
|
||||||
|
class AP_WheelRateControl {
|
||||||
|
|
||||||
|
public:
|
||||||
|
|
||||||
|
AP_WheelRateControl(const AP_WheelEncoder &wheel_encoder_ref);
|
||||||
|
|
||||||
|
// returns true if a wheel encoder and rate control PID are available for this instance
|
||||||
|
bool enabled(uint8_t instance);
|
||||||
|
|
||||||
|
// get throttle output in the range -100 to +100 given a desired rate expressed as a percentage of the rate_max (-100 to +100)
|
||||||
|
// instance can be 0 or 1
|
||||||
|
float get_rate_controlled_throttle(uint8_t instance, float desired_rate_pct, float dt);
|
||||||
|
|
||||||
|
// get rate maximum in radians/sec
|
||||||
|
float get_rate_max_rads() const { return MAX(_rate_max, 0.0f); }
|
||||||
|
|
||||||
|
// get pid objects for reporting
|
||||||
|
AC_PID& get_pid(uint8_t instance);
|
||||||
|
|
||||||
|
static const struct AP_Param::GroupInfo var_info[];
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
// parameters
|
||||||
|
AP_Int8 _enabled; // top level enable/disable control
|
||||||
|
AP_Float _rate_max; // wheel maximum rotation rate in rad/s
|
||||||
|
AC_PID _rate_pid0 = AC_PID(AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT, AP_WHEEL_RATE_CONTROL_FF);
|
||||||
|
AC_PID _rate_pid1 = AC_PID(AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT, AP_WHEEL_RATE_CONTROL_FF);
|
||||||
|
|
||||||
|
// limit flags
|
||||||
|
struct AP_MotorsUGV_limit {
|
||||||
|
bool lower; // reached this instance's lower limit on last iteration
|
||||||
|
bool upper; // reached this instance's upper limit on last iteration
|
||||||
|
} _limit[2];
|
||||||
|
|
||||||
|
// internal variables
|
||||||
|
const AP_WheelEncoder& _wheel_encoder; // pointer to accompanying wheel encoder
|
||||||
|
uint32_t _last_update_ms; // system time of last call to get_rate_controlled_throttle
|
||||||
|
};
|
||||||
Loading…
Reference in New Issue
Block a user