351 lines
8.6 KiB
C
351 lines
8.6 KiB
C
/****************************************************************************
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* libs/libdsp/lib_pid.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <dsp.h>
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#include <string.h>
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: pid_controller_init
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*
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* Description:
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* Initialize PID controller. This function does not initialize saturation
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* limits.
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*
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* Input Parameters:
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* pid - (out) pointer to the PID controller data
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* KP - (in) proportional gain
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* KI - (in) integral gain
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* KD - (in) derivative gain
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void pid_controller_init(FAR pid_controller_f32_t *pid, float KP, float KI,
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float KD)
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{
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LIBDSP_DEBUGASSERT(pid != NULL);
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/* Reset controller data */
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memset(pid, 0, sizeof(pid_controller_f32_t));
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/* Copy controller parameters */
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pid->KP = KP;
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pid->KI = KI;
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pid->KD = KD;
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pid->KC = 0.0;
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}
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/****************************************************************************
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* Name: pi_controller_init
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*
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* Description:
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* Initialize PI controller. This function does not initialize saturation
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* limits.
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*
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* Input Parameters:
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* pid - (out) pointer to the PID controller data
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* KP - (in) proportional gain
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* KI - (in) integral gain
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void pi_controller_init(FAR pid_controller_f32_t *pid, float KP, float KI)
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{
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LIBDSP_DEBUGASSERT(pid != NULL);
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/* Reset controller data */
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memset(pid, 0, sizeof(pid_controller_f32_t));
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/* Copy controller parameters */
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pid->KP = KP;
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pid->KI = KI;
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pid->KD = 0.0f;
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pid->KC = 0.0f;
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/* No windup-protection at default */
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pid->aw_en = false;
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pid->ireset_en = false;
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}
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/****************************************************************************
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* Name: pid_saturation_set
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*
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* Description:
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* Set controller saturation limits. Sometimes we need change saturation
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* configuration in the run-time, so this function is separate from
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* pid_controller_init().
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*
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* Input Parameters:
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* pid - (out) pointer to the PID controller data
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* min - (in) lower limit
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* max - (in) upper limit
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void pid_saturation_set(FAR pid_controller_f32_t *pid, float min, float max)
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{
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LIBDSP_DEBUGASSERT(pid != NULL);
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LIBDSP_DEBUGASSERT(min < max);
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pid->sat.max = max;
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pid->sat.min = min;
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/* Enable saturation in PID controller */
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pid->pidsat_en = true;
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}
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/****************************************************************************
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* Name: pi_saturation_set
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*
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* Description:
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*
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* Input Parameters:
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* pid - (out) pointer to the PID controller data
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* min - (in) lower limit
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* max - (in) upper limit
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void pi_saturation_set(FAR pid_controller_f32_t *pid, float min, float max)
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{
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LIBDSP_DEBUGASSERT(pid != NULL);
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LIBDSP_DEBUGASSERT(min < max);
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pid->sat.max = max;
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pid->sat.min = min;
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/* Enable saturation in PI controller */
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pid->pisat_en = true;
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}
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/****************************************************************************
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* Name: pid_antiwindup_enable
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****************************************************************************/
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void pi_antiwindup_enable(FAR pid_controller_f32_t *pid, float KC,
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bool enable)
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{
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pid->aw_en = enable;
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pid->KC = KC;
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}
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/****************************************************************************
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* Name: pid_ireset_enable
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****************************************************************************/
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void pi_ireset_enable(FAR pid_controller_f32_t *pid, bool enable)
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{
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pid->ireset_en = enable;
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}
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/****************************************************************************
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* Name: pid_integral_reset
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****************************************************************************/
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void pid_integral_reset(FAR pid_controller_f32_t *pid)
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{
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pid->part[1] = 0.0f;
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pid->aw = 0.0f;
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}
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/****************************************************************************
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* Name: pi_integral_reset
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****************************************************************************/
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void pi_integral_reset(FAR pid_controller_f32_t *pid)
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{
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pid_integral_reset(pid);
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}
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/****************************************************************************
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* Name: pi_controller
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*
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* Description:
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* PI controller with output saturation and windup protection
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*
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* Input Parameters:
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* pid - (in/out) pointer to the PI controller data
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* err - (in) current controller error
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*
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* Returned Value:
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* Return controller output.
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*
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****************************************************************************/
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float pi_controller(FAR pid_controller_f32_t *pid, float err)
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{
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LIBDSP_DEBUGASSERT(pid != NULL);
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float tmp = 0.0f;
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/* Store error in controller structure */
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pid->err = err;
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/* Get proportional part */
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pid->part[0] = pid->KP * err;
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/* Get intergral part */
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pid->part[1] += pid->KI * (err - pid->aw);
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/* Add proportional, integral */
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pid->out = pid->part[0] + pid->part[1];
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/* Store not saturated output */
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tmp = pid->out;
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/* Saturate output if enabled */
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if (pid->pisat_en == true)
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{
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if (pid->out > pid->sat.max)
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{
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if (pid->ireset_en == true)
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{
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/* Reset I part */
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if (err > 0.0f)
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{
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pi_integral_reset(pid);
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}
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}
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/* Limit output to the upper limit */
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pid->out = pid->sat.max;
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}
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else if (pid->out < pid->sat.min)
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{
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if (pid->ireset_en == true)
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{
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/* Reset I part */
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if (err < 0.0f)
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{
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pi_integral_reset(pid);
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}
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}
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/* Limit output to the lower limit */
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pid->out = pid->sat.min;
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}
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}
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/* Anti-windup I-part decay if enabled */
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if (pid->aw_en == true)
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{
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pid->aw = pid->KC * (tmp - pid->out);
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}
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/* Return regulator output */
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return pid->out;
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}
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/****************************************************************************
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* Name: pid_controller
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*
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* Description:
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* PID controller with output saturation and windup protection
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*
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* Input Parameters:
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* pid - (in/out) pointer to the PID controller data
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* err - (in) current controller error
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*
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* Returned Value:
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* Return controller output.
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*
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****************************************************************************/
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float pid_controller(FAR pid_controller_f32_t *pid, float err)
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{
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LIBDSP_DEBUGASSERT(pid != NULL);
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/* Get PI output */
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pi_controller(pid, err);
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/* Get derivative part */
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pid->part[2] = pid->KD * (err - pid->err_prev);
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/* Add derivative part to the PI part */
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pid->out += pid->part[2];
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/* Store current error */
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pid->err_prev = err;
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/* Saturate output if enabled */
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if (pid->pidsat_en == true)
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{
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if (pid->out > pid->sat.max)
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{
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/* Limit output to the upper limit */
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pid->out = pid->sat.max;
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}
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else if (pid->out < pid->sat.min)
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{
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/* Limit output to the lower limit */
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pid->out = pid->sat.min;
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}
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}
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/* Return regulator output */
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return pid->out;
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}
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