Struct Pid::Gains

Nested Relationships

This struct is a nested type of Class Pid.

Struct Documentation

struct Gains

Store gains in a struct to allow easier realtime buffer usage.

Public Functions

inline Gains(double p, double i, double d, double i_max, double i_min)

Optional constructor for passing in values without antiwindup and saturation.

Parameters:

  • p – The proportional gain.

  • i – The integral gain.

  • d – The derivative gain.

  • i_max – Upper integral clamp.

  • i_min – Lower integral clamp.

inline Gains(double p, double i, double d, double i_max, double i_min, bool antiwindup)

Optional constructor for passing in values without saturation.

Parameters:

  • p – The proportional gain.

  • i – The integral gain.

  • d – The derivative gain.

  • i_max – Upper integral clamp.

  • i_min – Lower integral clamp.

  • 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.

inline Gains(double p, double i, double d, double i_max, double i_min, double u_max, double u_min, double trk_tc, bool saturation, bool antiwindup, AntiwindupStrategy antiwindup_strat)

Optional constructor for passing in values.

Parameters:

  • p – The proportional gain.

  • i – The integral gain.

  • d – The derivative gain.

  • i_max – Upper integral clamp.

  • i_min – Lower integral clamp.

  • u_max – Upper output clamp.

  • u_min – Lower output clamp.

  • trk_tc – 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.

  • saturation – Enables output saturation. When true, the controller output is clamped between u_max and u_min.

  • 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.

  • antiwindup_strat – Specifies the anti-windup strategy. Options: ‘back_calculation’, ‘conditional_integration’, or ‘none’. Note that the ‘back_calculation’ strategy use the tracking_time_constant parameter to tune the anti-windup behavior. When a strategy other than ‘none’ is selected, it will override the controller’s default anti-windup behavior.

inline Gains(double p, double i, double d, double u_max, double u_min, double trk_tc, bool saturation, AntiwindupStrategy antiwindup_strat)

Constructor for passing in values.

Parameters:

  • p – The proportional gain.

  • i – The integral gain.

  • d – The derivative gain.

  • u_max – Upper output clamp.

  • u_min – Lower output clamp.

  • trk_tc – 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.

  • saturation – Enables output saturation. When true, the controller output is clamped between u_max and u_min.

  • antiwindup_strat – Specifies the anti-windup strategy. Options: ‘back_calculation’, ‘conditional_integration’, or ‘none’. Note that the ‘back_calculation’ strategy use the tracking_time_constant parameter to tune the anti-windup behavior.

inline Gains()

Public Members

double p_gain_

Proportional gain.

double i_gain_

Integral gain.

double d_gain_

Derivative gain.

double i_max_

Maximum allowable integral term.

double i_min_

Minimum allowable integral term.

double u_max_

Maximum allowable output.

double u_min_

Minimum allowable output.

double trk_tc_

Tracking time constant.

bool saturation_

Saturation.

bool antiwindup_

Anti-windup.

AntiwindupStrategy antiwindup_strat_

Anti-windup strategy.