69 lines
1.3 KiB
C++
69 lines
1.3 KiB
C++
//
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// Created by Administrator on 2026/1/16.
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//
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#ifndef RTTHREAD_PID_CONTROLLER_H
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#define RTTHREAD_PID_CONTROLLER_H
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class PidController
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{
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public:
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PidController();
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// 设置目标（通用 target）
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void setTarget(double target);
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// PID 增益
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void setGains(double kp, double ki, double kd);
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/// 设置积分上下限： lower <= I <= upper
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/// 若 upper <= lower，则不启用积分限幅
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void setIntegralLimits(double lower, double upper);
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/// 设置误差死区： |error| < deadzone 时视为 0
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void setDeadzone(double deadzone);
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/// 设置 D 项滤波系数（简单一阶滤波）
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/// coeff <= 0 表示不启用滤波
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void setDerivativeFilterCoeff(double coeff);
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/// 重置内部状态（积分/上一拍误差/滤波器）
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void reset(double integral = 0.0, double prev_error = 0.0);
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/// 核心：根据当前值计算控制量
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double compute(double x, double dt);
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private:
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// gains
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double kp_;
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double ki_;
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double kd_;
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// target
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double target_;
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// state
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double integralError_;
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double prevError_;
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// integral clamp
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double iLower_;
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double iUpper_;
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// deadzone
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double deadzone_;
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// derivative filter
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double dFilterCoeff_;
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double dErrorFiltered_;
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bool initialized_;
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};
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#endif //RTTHREAD_PID_CONTROLLER_H
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