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Pidloop improvements #2922
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Pidloop improvements #2922
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e4fa8f5
Use forward Euler method for PIDLoop integration.
ayzenquwe c1f4dff
Add unit tests for PIDLoop
ayzenquwe 00d84d7
Add more anti windup modes to PIDLoop
ayzenquwe a67d707
Derivative part of PID should work measure the error, not input
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,118 @@ | ||
| using System; | ||
| using kOS.Safe.Encapsulation; | ||
| using NUnit.Framework; | ||
|
|
||
| namespace kOS.Safe.Test.Structure | ||
| { | ||
| [TestFixture] | ||
| public class PIDLoopTest | ||
| { | ||
|
|
||
| private double[] input; | ||
|
|
||
| [SetUp] | ||
| public void Setup() | ||
| { | ||
| input = new double[] {-10, -10, -10, -10, 6, 6, 6, 6, 6, 6}; | ||
| } | ||
|
|
||
| [Test] | ||
| public void CanCorrectlyReactToSineWaveInput() | ||
| { | ||
| var pidLoop = new PIDLoop(1, 1, 1); | ||
| double[] sineWaveInput = {0, -4.207, -4.547, -0.706, 3.784, 4.795, 1.397, -3.285, -4.947, -2.060}; | ||
| double[] output = new double[10]; | ||
| double[] pTermOutput = new double[10]; | ||
| double[] iTermOutput = new double[10]; | ||
| double[] dTermOutput = new double[10]; | ||
|
|
||
| for (var i = 0; i < sineWaveInput.Length; i++) | ||
| { | ||
| output[i] = Math.Round((double) pidLoop.Update(i, sineWaveInput[i]), 2); | ||
| pTermOutput[i] = Math.Round(pidLoop.PTerm, 2); | ||
| iTermOutput[i] = Math.Round(pidLoop.ITerm, 2); | ||
| dTermOutput[i] = Math.Round(pidLoop.DTerm, 2); | ||
| } | ||
|
|
||
| Assert.AreEqual(new double[] {0, 4.21, 4.55, 0.71, -3.78, -4.80, -1.40, 3.28, 4.95, 2.06}, pTermOutput, "Proportional part is incorrect"); | ||
| Assert.AreEqual(new double[] {0, 0, 4.21, 8.75, 9.46, 5.68, 0.88, -0.52, 2.77, 7.72}, iTermOutput, "Integral part is incorrect"); | ||
| Assert.AreEqual(new double[] {0, 4.21, 0.34, -3.84, -4.49, -1.01, 3.40, 4.68, 1.66, -2.89}, dTermOutput, "Derivative part is incorrect"); | ||
| Assert.AreEqual(new double[] {0, 8.41, 9.09, 5.62, 1.19, -0.13, 2.88, 7.45, 9.38, 6.89}, output, "PID output is incorrect"); | ||
| } | ||
|
|
||
| [Test] | ||
| public void CanAntiWindUp() | ||
| { | ||
| var pidLoop = new PIDLoop(0, 1, 0, 11, 0); | ||
| double[] output = new double[10]; | ||
|
|
||
| for (var i = 0; i < input.Length; i++) | ||
| { | ||
| output[i] = pidLoop.Update(i, input[i]); | ||
| } | ||
|
|
||
| Assert.AreEqual(new double[] {0, 10, 11, 11, 11, 5, 0, 0, 0, 0}, output); | ||
| } | ||
|
|
||
| [Test] | ||
| public void CanNoneAntiWindUp() | ||
| { | ||
| var pidLoop = new PIDLoop(0, 1, 0, 11, 0); | ||
| pidLoop.AntiWindupMode = "NONE"; | ||
| double[] outputs = new double[10]; | ||
|
|
||
| for (var i = 0; i < input.Length; i++) | ||
| { | ||
| outputs[i] = pidLoop.Update(i, input[i]); | ||
| } | ||
|
|
||
| Assert.AreEqual(new double[] {0, 10, 11, 11, 11, 11, 11, 11, 11, 10}, outputs); | ||
| } | ||
|
|
||
| [Test] | ||
| public void CanClampingAntiWindUp() | ||
| { | ||
| var pidLoop = new PIDLoop(0, 1, 0, 11, 0); | ||
| pidLoop.AntiWindupMode = "CLAMPING"; | ||
| double[] outputs = new double[10]; | ||
|
|
||
| for (var i = 0; i < input.Length; i++) | ||
| { | ||
| outputs[i] = pidLoop.Update(i, input[i]); | ||
| } | ||
|
|
||
| Assert.AreEqual(new double[] {0, 10, 11, 11, 11, 11, 8, 2, 0, 0}, outputs); | ||
| } | ||
|
|
||
| [Test] | ||
| public void CanBackCalculationAntiWindUp() | ||
| { | ||
| var pidLoop = new PIDLoop(0, 1, 0, 11, 0); | ||
| pidLoop.AntiWindupMode = "BACK-CALC"; | ||
| double[] outputs = new double[10]; | ||
|
|
||
| for (var i = 0; i < input.Length; i++) | ||
| { | ||
| outputs[i] = pidLoop.Update(i, input[i]); | ||
| } | ||
|
|
||
| Assert.AreEqual(new double[] {0, 10, 11, 11, 11, 5, 0, 0, 0, 0}, outputs); | ||
| } | ||
|
|
||
| [Test] | ||
| public void CanBackCalculationWithK2AntiWindUp() | ||
| { | ||
| var pidLoop = new PIDLoop(0, 1, 0, 11, 0); | ||
| pidLoop.AntiWindupMode = "BACK-CALC"; | ||
| pidLoop.KBackCalc = 2; | ||
| double[] outputs = new double[10]; | ||
|
|
||
| for (var i = 0; i < input.Length; i++) | ||
| { | ||
| outputs[i] = pidLoop.Update(i, input[i]); | ||
| } | ||
|
|
||
| Assert.AreEqual(new double[] {0, 10, 11, 11, 11, 0, 0, 0, 0, 0}, outputs); | ||
| } | ||
| } | ||
| } |
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If this value is going to be checked repeatedly during Update it's probably better to store it internally as an enum type and check the enum here instead of doing string manipulation on the fly again and again each Update(). (i.e. when a script uses
setto change the value of the suffix, check it then to see if the string is one of the known values and if it is then set the enum, else throw an error.) That way the string work only happens when the value is set, rather than 50 times a second.There was a problem hiding this comment.
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You're right, I'll fix this. Thanks!