Antiwindup strategy for PID controllers. More...

#include <pid.hpp>

Public Types
enum	Value : int8_t { UNDEFINED = -1 , NONE , LEGACY , BACK_CALCULATION , CONDITIONAL_INTEGRATION }

Public Member Functions
void	set_type (const std::string &s)

void	validate () const

	operator std::string () const

constexpr bool	operator== (Value other) const

constexpr bool	operator!= (Value other) const

std::string	to_string () const

Public Attributes
Value	type = UNDEFINED

double	i_min = std::numeric_limits<double>::quiet_NaN()

double	i_max = std::numeric_limits<double>::quiet_NaN()

bool	legacy_antiwindup = false

double	tracking_time_constant = 0.0

double	error_deadband

Detailed Description

Antiwindup strategy for PID controllers.

This class defines various antiwindup strategies that can be used in PID controllers. It allows setting the type of antiwindup strategy and validates the parameters accordingly.

Parameters

i_max	Upper integral clamp.
i_min	Lower integral clamp.
u_max	Upper output clamp.
u_min	Lower output clamp.
tracking_time_constant	Specifies the tracking time constant for the 'back_calculation' strategy. If set to 0.0 when this strategy is selected, a recommended default value will be applied.
legacy_antiwindup	Anti-windup functionality. When set to true, limits the integral error to prevent windup; otherwise, constrains the integral contribution to the control output. i_max and i_min are applied in both scenarios.
error_deadband	Error deadband is used to stop integration when the error is within the given range.
type	Specifies the antiwindup strategy type. Valid values are: `NONE`: No antiwindup strategy applied. `LEGACY`: Legacy antiwindup strategy, which limits the integral term to prevent windup (deprecated: This option will be removed in a future release). `BACK_CALCULATION`: Back calculation antiwindup strategy, which uses a tracking time constant. `CONDITIONAL_INTEGRATION`: Conditional integration antiwindup strategy, which integrates only when certain conditions are met.

Member Data Documentation

◆ error_deadband

double control_toolbox::AntiWindupStrategy::error_deadband

Initial value:

=

std::numeric_limits<double>::epsilon()

Error deadband to avoid integration.

◆ i_max

double control_toolbox::AntiWindupStrategy::i_max = std::numeric_limits<double>::quiet_NaN()

Maximum allowable integral term.

◆ i_min

double control_toolbox::AntiWindupStrategy::i_min = std::numeric_limits<double>::quiet_NaN()

Minimum allowable integral term.

◆ legacy_antiwindup

bool control_toolbox::AntiWindupStrategy::legacy_antiwindup = false

Use legacy anti-windup strategy.

◆ tracking_time_constant

double control_toolbox::AntiWindupStrategy::tracking_time_constant = 0.0

Tracking time constant for back_calculation strategy.

The documentation for this struct was generated from the following file:

control_toolbox/control_toolbox/include/control_toolbox/pid.hpp

Public Types

Public Member Functions