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Remove setpoint-change from error when calculating derivative in pid controller (#4737)
Co-authored-by: Mathias Pihl <mapih@frode-laursen.com>
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2 changed files with 10 additions and 4 deletions
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@ -16,7 +16,7 @@ float PIDController::update(float setpoint, float process_value) {
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calculate_proportional_term_();
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calculate_integral_term_();
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calculate_derivative_term_();
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calculate_derivative_term_(setpoint);
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// u(t) := p(t) + i(t) + d(t)
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float output = proportional_term_ + integral_term_ + derivative_term_;
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@ -69,13 +69,18 @@ void PIDController::calculate_integral_term_() {
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integral_term_ = accumulated_integral_;
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}
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void PIDController::calculate_derivative_term_() {
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void PIDController::calculate_derivative_term_(float setpoint) {
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// derivative_term_
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// d(t) := K_d * de(t)/dt
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float derivative = 0.0f;
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if (dt_ != 0.0f)
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if (dt_ != 0.0f) {
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// remove changes to setpoint from error
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if (!std::isnan(previous_setpoint_) && previous_setpoint_ != setpoint)
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previous_error_ -= previous_setpoint_ - setpoint;
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derivative = (error_ - previous_error_) / dt_;
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}
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previous_error_ = error_;
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previous_setpoint_ = setpoint;
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// smooth the derivative samples
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derivative = weighted_average_(derivative_list_, derivative, derivative_samples_);
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@ -49,12 +49,13 @@ struct PIDController {
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void calculate_proportional_term_();
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void calculate_integral_term_();
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void calculate_derivative_term_();
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void calculate_derivative_term_(float setpoint);
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float weighted_average_(std::deque<float> &list, float new_value, int samples);
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float calculate_relative_time_();
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/// Error from previous update used for derivative term
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float previous_error_ = 0;
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float previous_setpoint_ = NAN;
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/// Accumulated integral value
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float accumulated_integral_ = 0;
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uint32_t last_time_ = 0;
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