421 lines
16 KiB
C
421 lines
16 KiB
C
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/*
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* Copyright (C) 2023 Texas Instruments Incorporated
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the
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* distribution.
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*
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* Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPgResS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef _DCL_PID64_H_
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#define _DCL_PID64_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* \addtogroup DCL_API_MODULE APIs for Digital Control Library
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* @{
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*
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* \file dcl_pidf64.h
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* \brief Contains 64-bit PID controller with its related structures and functions
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*/
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#include "../dcl_common.h"
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//--- Linear PID 64bit controller --------------------------------------------------
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//! \brief Defines the shadow PID64 controller structure
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//! used for updating controller parameter
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//!
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typedef struct dcl_pid64_sps {
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float64_t Kp; //!< Proportional gain
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float64_t Ki; //!< Integral gain
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float64_t Kd; //!< Derivative gain
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float64_t Kr; //!< Set point weight, default is 1
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float64_t c1; //!< D-term filter coefficient 1, default is 1
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float64_t c2; //!< D-term filter coefficient 2, default is 0
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float64_t Umax; //!< Upper saturation limit
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float64_t Umin; //!< Lower saturation limit
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} DCL_PIDF64_SPS;
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//! \brief Defines default values to initialize the DCL_PIDF64 shadow structure
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//!
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#define PIDF64_SPS_DEFAULTS { 1.0L, 0.0L, 0.0L, 1.0L, 1.0L, 0.0L, 1.0L, -1.0L }
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//! \brief PID 64bit object for storing PID specific 64bit parameters
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//!
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typedef _DCL_VOLATILE struct dcl_pidf64 {
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/* controller parameter */
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float64_t Kp; //!< Proportional gain
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float64_t Ki; //!< Integral gain
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float64_t Kd; //!< Derivative gain
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float64_t Kr; //!< Set point weight, default is 1
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float64_t c1; //!< D-term filter coefficient 1, default is 1
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float64_t c2; //!< D-term filter coefficient 2, default is 0
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float64_t Umax; //!< Upper saturation limit
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float64_t Umin; //!< Lower saturation limit
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/* internal storage */
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float64_t d2; //!< D path feedback value (Kd * c1)
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float64_t d3; //!< D path feedback value (c2)
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float64_t i10; //!< I path feedback value
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float64_t i14; //!< I path saturation storage
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/* miscellaneous */
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DCL_PIDF64_SPS *sps; //!< updates controller parameter
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DCL_CSSF64 *css; //!< configuration & debugging
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} DCL_PIDF64, *PIDF64_Handle;
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//! \brief Defines default values to initialize the DCL_PID64 active structure
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//!
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#define PIDF64_DEFAULTS { 1.0L, 0.0L, 0.0L, 1.0L, 1.0L, 0.0L, \
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1.0L, -1.0L, 0.0L, 0.0L, 0.0L, 1.0L, \
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&(DCL_PIDF64_SPS)PIDF64_SPS_DEFAULTS, &(DCL_CSSF64)DCL_CSSF64_DEFAULTS }
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//! \brief Macro for internal default values to initialize DCL_PIDF64
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//! Example: DCL_PIDF64 pid_ctrl = {
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//! .Kp = 1.0L,
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//! .Ki = 0.0L,
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//! ...
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//! .Umin = -1.0L,
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//! PIDF64_INT_DEFAULTS
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//! };
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#define PIDF64_INT_DEFAULTS .d2=0.0L, .d3=0.0L, .i10=0.0L, .i14=1.0L, \
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.sps=&(DCL_PIDF64_SPS)PI_SPS_DEFAULTS, .css=&(DCL_CSSF64)DCL_CSS_DEFAULTS
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//! \brief Initialize DCL_PIDF64 struct with default parameters
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//! Example: DCL_PIDF64* pid_ctrl = DCL_initPID();
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//!
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//! \return A DCL_PIDF64* pointer
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//!
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#define DCL_initPIDF64() &(DCL_PIDF64)PIDF64_DEFAULTS
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//! \brief Initialize DCL_PIDF64 struct with input controller parameters
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//! Example: DCL_PIDF64* pid_ctrl = DCL_initPIDF64asParam(1.0L,0.0L,0.0L,1.0L,1.0L,0.0L,1.0L,-1.0L);
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//! Note: input parameter needs to be in the same order as listed in PIDF64_SPS struct
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//!
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//! \return A DCL_PID* pointer
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//!
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#define DCL_initPIDF64asParam(kp,ki,kd,kr,_c1,_c2,umax,umin) &(DCL_PIDF64){ .Kp=kp, .Ki=ki, .Kd=kd, .Kr=kr, \
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.c1=_c1, .c2=_c2, .Umax=umax, .Umin=umin, PIDF64_INT_DEFAULTS }
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//! \brief Initialize DCL_PIDF64 struct with sps parameters
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//! Example: DCL_PIDF64_SPS pid_sps = { .Kp = , .Ki = , ...}; //initial parameter
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//! DCL_PIDF64 pid_ctrl;
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//! DCL_initPIasSPS(&pid_ctrl,&pid_sps);
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//!
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//! \param[in] pid_ptr DCL_PIDF64* pointer that needs to be initialized
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//! \param[in] sps_ptr DCL_PIDF64_SPS* pointer with assigned parameters
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//! \return Returns DCL_PID* with set sps parameters, default parameter will be used
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//! if sps_ptr is not specified
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//!
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#define DCL_initPIDF64asSPS(pid_ptr,sps_ptr) \
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({ \
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DCL_PIDF64* new_pid = (pid_ptr) ? pid_ptr : DCL_initPID(); \
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DCL_PIDF64_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_PIDF64_SPS)PID_SPS_DEFAULTS; \
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if(sps_ptr) \
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{ \
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*new_pi = (DCL_PID){ (new_sps)->Kp, (new_sps)->Ki, (new_sps)->Kd,(new_sps)->Kr,\
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(new_sps)->c1, (new_sps)->c2, (new_sps)->Umax, (new_sps)->Umin, 0.0L, 0.0L, \
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0.0L, 1.0L,(DCL_PIDF64_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS }; \
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} \
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new_pid; \
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})
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//! \brief Resets PID64 internal storage data with interrupt protection
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//!
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//! \param[in] pid Pointer to the DCL_PID64 structure
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//!
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_DCL_CODE_ACCESS
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void DCL_resetPIDF64(DCL_PIDF64 *pid)
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{
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dcl_interrupt_t ints = DCL_disableInts();
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pid->d2 = pid->d3 = pid->i10 = 0.0L;
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pid->i14 = 1.0L;
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DCL_restoreInts(ints);
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}
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//! \brief Loads PIDF64 tuning parameter from its SPS parameter
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//!
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//! \param[in] pid Pointer to the active DCL_PID64 controller structure
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//!
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_DCL_CODE_ACCESS
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void DCL_fupdatePIDF64(DCL_PIDF64 *pid)
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{
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#ifdef DCL_ERROR_HANDLING_ENABLED
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float64_t tau = (2.0L - pid->sps->c1 * p->css->t_sec) / (2.0L * pid->sps->c1);
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float64_t ec2 = pid->sps->c1 * (pid->css->t_sec - 2.0L * tau) / 2.0L;
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uint32_t err_code = dcl_none;
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err_code |= DCL_isValue(pid->sps->c2, ec2) ? dcl_none : dcl_param_invalid_err;
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err_code |= (pid->sps->Umax > pid->sps->Umin) ? dcl_none : dcl_param_invalid_err;
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err_code |= (pid->css->t_sec > 0.0L) ? dcl_none : dcl_param_range_err;
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err_code |= ((pid->sps->Kp > 0.0L) && (pid->sps->Ki > 0.0L) && (pid->sps->Kd > 0.0L) && (pid->sps->Kr > 0.0L)) ? dcl_none : dcl_param_range_err ;
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if (err_code)
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{
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DCL_setError(pid,err_code);
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DCL_getErrorInfo(pid);
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DCL_runErrorHandler(pid);
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}
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#endif
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pid->Kp = pid->sps->Kp;
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pid->Ki = pid->sps->Ki;
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pid->Kd = pid->sps->Kd;
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pid->Kr = pid->sps->Kr;
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pid->c1 = pid->sps->c1;
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pid->c2 = pid->sps->c2;
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pid->Umax = pid->sps->Umax;
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pid->Umin = pid->sps->Umin;
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}
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//! \brief Updates PID parameter from its SPS parameter with interrupt protection
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//!
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//! \param[in] pid Pointer to the DCL_PID64 controller structure
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//! \return 'true' if update is successful, otherwise 'false'
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//!
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_DCL_CODE_ACCESS
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bool DCL_updatePIDF64(DCL_PIDF64 *pid)
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{
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#ifdef DCL_ERROR_HANDLING_ENABLED
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float64_t tau = (2.0L - pid->sps->c1 * pid->css->t_sec) / (2.0L * pid->sps->c1);
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float64_t ec2 = pid->sps->c1 * (pid->css->t_sec - 2.0L * tau) / 2.0L;
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uint32_t err_code = dcl_none;
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err_code |= DCL_isValue(pid->sps->c2, ec2) ? dcl_none : dcl_param_invalid_err;
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err_code |= (pid->sps->Umax > pid->sps->Umin) ? dcl_none : dcl_param_invalid_err;
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err_code |= (pid->css->t_sec > 0.0L) ? dcl_none : dcl_param_range_err;
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err_code |= ((pid->sps->Kp > 0.0L) && (pid->sps->Ki > 0.0L) && (pid->sps->Kd > 0.0L) && (pid->sps->Kr > 0.0L)) ? dcl_none : dcl_param_range_err ;
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if (err_code)
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{
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DCL_setError(pid,err_code);
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DCL_getErrorInfo(pid);
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DCL_runErrorHandler(pid);
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}
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#endif
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if (!DCL_getUpdateStatus(pid))
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{
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dcl_interrupt_t ints = DCL_disableInts();
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DCL_setUpdateStatus(pid);
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pid->Kp = pid->sps->Kp;
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pid->Ki = pid->sps->Ki;
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pid->Kd = pid->sps->Kd;
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pid->Kr = pid->sps->Kr;
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pid->c1 = pid->sps->c1;
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pid->c2 = pid->sps->c2;
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pid->Umax = pid->sps->Umax;
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pid->Umin = pid->sps->Umin;
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DCL_clearUpdateStatus(pid);
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DCL_restoreInts(ints);
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return true;
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}
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return false;
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}
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//! \brief A conditional update based on the pending-for-update flag.
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//! If the pending status is set, the function will update PIDF64
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//! parameter from its SPS parameter and clear the status flag on completion.
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//! Note: Use DCL_setPendingStatus(pid) to set the pending status.
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//!
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//! \param[in] pid Pointer to the DCL_PIDF64 controller structure
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//! \return 'true' if an update is applied, otherwise 'false'
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//!
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_DCL_CODE_ACCESS
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bool DCL_pendingUpdatePIDF64(DCL_PIDF64 *pid)
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{
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if (DCL_getPendingStatus(pid) && DCL_updatePIDF64(pid))
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{
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DCL_clearPendingStatus(pid);
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return true;
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}
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return false;
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}
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//! \brief Update SPS parameter with active param, userful when needing
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//! to update only few active param from SPS and keep rest the same
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//!
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//! \param[in] pid Pointer to the active DCL_PIDF64 controller structure
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//!
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_DCL_CODE_ACCESS
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void DCL_updatePIDF64SPS(DCL_PIDF64 *pid)
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{
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pid->sps->Kp = pid->Kp;
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pid->sps->Ki = pid->Ki;
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pid->sps->Kd = pid->Kd;
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pid->sps->Kr = pid->Kr;
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pid->sps->c1 = pid->c1;
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pid->sps->c2 = pid->c2;
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pid->sps->Umax = pid->Umax;
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pid->sps->Umin = pid->Umin;
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}
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//! \brief Loads the derivative path filter shadow coefficients
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//! Note: Sampling period pid->css->t_sec are used in the calculation
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//! Note: new coefficients take effect when DCL_updatePID64() is called
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//!
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//! \param[in] pid Pointer to the DCL_PID64 structure
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//! \param[in] fc The desired filter bandwidth in Hz
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//!
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_DCL_CODE_ACCESS
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void DCL_setPIDF64filterBW(DCL_PIDF64 *pid, float64_t fc)
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{
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#ifdef DCL_ERROR_HANDLING_ENABLED
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uint32_t err_code;
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err_code = ((fc >= 1.0L / (2.0L * pid->css->t_sec)) || (fc <= 0.0L)) ? dcl_param_range_err : dcl_none;
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if (err_code)
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{
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DCL_setError(pid,err_code);
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DCL_getErrorInfo(pid);
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DCL_runErrorHandler(pid);
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}
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#endif
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float64_t t_sec = pid->css->t_sec;
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float64_t tau = 1.0L / (2.0L * CONST_PI_F64 * fc);
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pid->sps->c1 = 2.0L / (t_sec + (2.0L * tau));
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pid->sps->c2 = (t_sec - (2.0L * tau)) / (t_sec + (2.0L * tau));
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}
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//! \brief Loads the PID64 derivative path filter active coefficients
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//! Note: Sampling period pid->css->t_sec are used in the calculation
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//! Note: new coefficients take effect immediately. SPS &
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//! CSS contents are unaffected.
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//!
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//! \param[in] pid Pointer to the DCL_PID64 structure
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//! \param[in] fc The desired filter bandwidth in Hz
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|
|
//! \param[in] t_sec The controller update rate in seconds
|
||
|
|
//!
|
||
|
|
_DCL_CODE_ACCESS
|
||
|
|
void DCL_setActivePIDF64filterBW(DCL_PIDF64 *pid, float64_t fc, float64_t t_sec)
|
||
|
|
{
|
||
|
|
|
||
|
|
#ifdef DCL_ERROR_HANDLING_ENABLED
|
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|
|
uint32_t err_code;
|
||
|
|
err_code = ((fc >= 1.0L / (2.0L * t_sec)) || (fc <= 0.0L)) ? dcl_param_range_err : dcl_none;
|
||
|
|
if (err_code)
|
||
|
|
{
|
||
|
|
DCL_setError(pid,err_code);
|
||
|
|
DCL_getErrorInfo(pid);
|
||
|
|
DCL_runErrorHandler(pid);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
float64_t tau = 1.0L / (2.0L * CONST_PI_F64 * fc);
|
||
|
|
pid->c1 = 2.0L / (t_sec + (2.0L * tau));
|
||
|
|
pid->c2 = (t_sec - (2.0L * tau)) / (t_sec + (2.0L * tau));
|
||
|
|
}
|
||
|
|
|
||
|
|
//! \brief Returns the active derivative path filter bandwidth in Hz
|
||
|
|
//! Note: Sampling period pid->css->t_sec are used in the calculation
|
||
|
|
//!
|
||
|
|
//! \param[in] pid Pointer to the DCL_PID64 structure
|
||
|
|
//! \return The filter bandwidth in Hz
|
||
|
|
//!
|
||
|
|
_DCL_CODE_ACCESS
|
||
|
|
float64_t DCL_getPIDF64filterBW(DCL_PIDF64 *pid)
|
||
|
|
{
|
||
|
|
float64_t tau = ((2.0L - pid->c1 * pid->css->t_sec) / (2.0L * pid->c1));
|
||
|
|
return(1.0L / (2.0L * CONST_PI_F64 * tau));
|
||
|
|
}
|
||
|
|
|
||
|
|
//! \brief Executes an ideal form PID64 controller
|
||
|
|
//!
|
||
|
|
//! \param[in] pid Pointer to the DCL_PID64 structure
|
||
|
|
//! \param[in] rk The controller set-point reference
|
||
|
|
//! \param[in] yk The measured feedback value
|
||
|
|
//! \param[in] lk External output clamp flag
|
||
|
|
//! \return The control effort
|
||
|
|
//!
|
||
|
|
_DCL_CODE_ACCESS
|
||
|
|
float64_t DCL_runPIDF64Series(DCL_PIDF64 *pid, float64_t rk, float64_t yk, float64_t lk)
|
||
|
|
{
|
||
|
|
float64_t v1, v4, v5, v8, v9, v10, v12;
|
||
|
|
|
||
|
|
v5 = (pid->Kr * rk) - yk;
|
||
|
|
v8 = ((rk - yk) * pid->Ki * pid->Kp * pid->i14) + pid->i10;
|
||
|
|
pid->i10 = v8;
|
||
|
|
v1 = yk * pid->Kd * pid->c1;
|
||
|
|
v4 = v1 - pid->d2 - pid->d3;
|
||
|
|
pid->d2 = v1;
|
||
|
|
pid->d3 = v4 * pid->c2;
|
||
|
|
v9 = ((v5 - v4) * pid->Kp) + v8;
|
||
|
|
v10 = DCL_runSat(v9, pid->Umax, pid->Umin);
|
||
|
|
v12 = (v10 == v9) ? 1.0 : 0.0;
|
||
|
|
pid->i14 = v12 * lk;
|
||
|
|
|
||
|
|
#ifdef DCL_TESTPOINTS_ENABLED
|
||
|
|
pid->css->tpt = v5;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return(v10);
|
||
|
|
}
|
||
|
|
|
||
|
|
//! \brief Executes an parallel form PID64 controller
|
||
|
|
//!
|
||
|
|
//! \param[in] pid Pointer to the DCL_PID64 structure
|
||
|
|
//! \param[in] rk The controller set-point reference
|
||
|
|
//! \param[in] yk The measured feedback value
|
||
|
|
//! \param[in] lk External output clamp flag
|
||
|
|
//! \return The control effort
|
||
|
|
//!
|
||
|
|
_DCL_CODE_ACCESS
|
||
|
|
float64_t DCL_runPIDF64Parallel(DCL_PIDF64 *pid, float64_t rk, float64_t yk, float64_t lk)
|
||
|
|
{
|
||
|
|
float64_t v1, v4, v5, v6, v8, v9, v10, v12;
|
||
|
|
|
||
|
|
v5 = rk - yk;
|
||
|
|
v6 = v5 * pid->Kp;
|
||
|
|
v8 = v5 * pid->Ki * pid->i14 + pid->i10;
|
||
|
|
pid->i10 = v8;
|
||
|
|
v1 = v5 * pid->Kd * pid->c1;
|
||
|
|
v4 = v1 - pid->d2 - pid->d3;
|
||
|
|
pid->d2 = v1;
|
||
|
|
pid->d3 = v4 * pid->c2;
|
||
|
|
v9 = v6 + v8 + v4;
|
||
|
|
v10 = DCL_runSat(v9, pid->Umax, pid->Umin);
|
||
|
|
v12 = (v10 == v9) ? 1.0f : 0.0f;
|
||
|
|
pid->i14 = v12 * lk;
|
||
|
|
|
||
|
|
#ifdef DCL_TESTPOINTS_ENABLED
|
||
|
|
pid->css->tpt = v8;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return(v10);
|
||
|
|
}
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif // extern "C"
|
||
|
|
|
||
|
|
#endif // _DCL_PIDF64_H_
|