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AP_Scripting: Prevent integrator windup in throttle

This commit is contained in:
Paul Riseborough 2022-11-13 09:37:40 +11:00 committed by Andrew Tridgell
parent 6a5fb54b04
commit 79db2fe4da
1 changed files with 9 additions and 5 deletions
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14
libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
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@ -165,7 +165,7 @@ end
-- a PI controller implemented as a Lua object -- a PI controller implemented as a Lua object
local function PI_controller(kP,kI,iMax) local function PI_controller(kP,kI,iMax,min,max)
-- the new instance. You can put public variables inside this self -- the new instance. You can put public variables inside this self
-- declaration if you want to -- declaration if you want to
local self = {} local self = {}
@ -175,6 +175,8 @@ local function PI_controller(kP,kI,iMax)
local _kI = kI or 0.0 local _kI = kI or 0.0
local _kD = kD or 0.0 local _kD = kD or 0.0
local _iMax = iMax local _iMax = iMax
local _min = min
local _max = max
local _last_t = nil local _last_t = nil
local _I = 0 local _I = 0
local _P = 0 local _P = 0
@ -195,7 +197,9 @@ local function PI_controller(kP,kI,iMax)
_counter = _counter + 1 _counter = _counter + 1
local P = _kP * err local P = _kP * err
_I = _I + _kI * err * dt if ((_total < _max and _total > _min) or (_total >= _max and err < 0) or (_total <= _min and err > 0)) then
_I = _I + _kI * err * dt
end
if _iMax then if _iMax then
_I = constrain(_I, -_iMax, iMax) _I = constrain(_I, -_iMax, iMax)
end end
@ -235,10 +239,10 @@ local function PI_controller(kP,kI,iMax)
return self return self
end end
local function speed_controller(kP_param,kI_param, kFF_pitch_param, Imax) local function speed_controller(kP_param,kI_param, kFF_pitch_param, Imax, min, max)
local self = {} local self = {}
local kFF_pitch = kFF_pitch_param local kFF_pitch = kFF_pitch_param
local PI = PI_controller(kP_param:get(), kI_param:get(), Imax) local PI = PI_controller(kP_param:get(), kI_param:get(), Imax, min, max)
function self.update(target, anticipated_pitch_rad) function self.update(target, anticipated_pitch_rad)
local current_speed = ahrs:get_velocity_NED():length() local current_speed = ahrs:get_velocity_NED():length()
@ -258,7 +262,7 @@ local function speed_controller(kP_param,kI_param, kFF_pitch_param, Imax)
return self return self
end end
local speed_PI = speed_controller(SPD_P, SPD_I, THR_PIT_FF, 100.0) local speed_PI = speed_controller(SPD_P, SPD_I, THR_PIT_FF, 100.0, 0.0, 100.0)
function sgn(x) function sgn(x)
local eps = 0.000001 local eps = 0.000001