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autopid
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update

This commit is contained in:
Andrei 2019-10-05 22:56:49 +03:00
parent 1fea0fe1f7
commit 3665583e46
4 changed files with 17 additions and 9 deletions
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16
pid_from_msl.cpp
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@ -59,6 +59,10 @@ public:
}
curIdx++;
} else if (j == outputIdx) {
/*const float alpha = 0.5f;
float fv = alpha * prevV + (1.0f - alpha) * (float)v;
prevV = v;
data.push_back(fv);*/
data.push_back((float)v);
}
}
@ -69,9 +73,10 @@ public:
std::vector<float> data;
double minValue = 0, maxValue = 0, stepPoint = -1.0, maxPoint = 0;
int curIdx = -1;
float prevV = 0;
};
#if 0
#if 1
int main(int argc, char **argv) {
if (argc < 6) {
printf("Usage: PID_FROM_MSL file.msl start_time end_time input_column output_column...\r\n");
@ -85,7 +90,8 @@ int main(int argc, char **argv) {
return -2;
}
printf("PID_FROM_MSL: Calculating...\r\n");
printf("PID_FROM_MSL: minValue=%g maxValue=%g stepPoint=%g maxPoint=%g Calculating...\r\n",
data.minValue, data.maxValue, data.stepPoint, data.maxPoint);
PidAutoTuneChrSopdt chr;
double params0[4];
@ -100,8 +106,6 @@ int main(int argc, char **argv) {
chr.addData(data.data[i]);
}
double stepPoint = 178; // todo: adjust for the buffer scale
double maxPoint = 460;
chr.findPid(PID_TUNE_CHR2, data.minValue, data.maxValue, data.stepPoint, data.maxPoint, params0);
printf("Done!\r\n");
@ -111,6 +115,10 @@ int main(int argc, char **argv) {
const pid_s & pid = chr.getPid();
printf("PID: P=%f I=%f D=%f offset=%f\r\n", pid.pFactor, pid.iFactor, pid.dFactor, pid.offset);
// todo: is it correct?
double dTime = 1;
PidAccuracyMetric metric = PidAutoTuneChrSopdt::simulatePid<2048>(chr.getAvgMeasuredMin(), chr.getAvgMeasuredMax(), dTime, pid, p);
printf("Metric result: ITAE=%g ISE=%g Overshoot=%g%%\r\n", metric.getItae(), metric.getIse(), metric.getMaxOvershoot() * 100.0);
return 0;
}

2
pid_functions.h
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@ -28,7 +28,7 @@ enum {
};
static const double minParamValue = 0.01;
static const double minParamValue = 0.0001;
class InputFunction {
public:

BIN
pid_open_loop_models.h
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8
test_chs_pid.cpp
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@ -122,9 +122,9 @@ TEST(pidAutoTune, testPidCoefs) {
params[PARAM_L] = 1.52685;
// todo: is it correct?
double dTime = 2;
double dTime = 1;
for (int idx = 0; idx <= 4; idx++) {
PidAccuracyMetric metric = PidAutoTuneChrSopdt::simulatePid<1024>(13.0, 16.0, dTime, pidParams[idx], params);
PidAccuracyMetric metric = PidAutoTuneChrSopdt::simulatePid<2048>(13.0, 14.0, dTime, pidParams[idx], params);
#ifdef PID_DEBUG
printf("Metric result: ITAE=%g ISE=%g Overshoot=%g%%\r\n", metric.getItae(), metric.getIse(), metric.getMaxOvershoot() * 100.0);
#endif
@ -133,7 +133,7 @@ TEST(pidAutoTune, testPidCoefs) {
// todo: check results
}
#if 1
#if 0
GTEST_API_ int main(int argc, char **argv) {
//testPidCoefs();
@ -148,7 +148,7 @@ GTEST_API_ int main(int argc, char **argv) {
testSOPDTOverdamped();
testChsSopdtPid();
#endif
//::testing::GTEST_FLAG(filter) = "*testPidCoefs*";
::testing::GTEST_FLAG(filter) = "*testPidCoefs*";
int result = RUN_ALL_TESTS();
// windows ERRORLEVEL in Jenkins batch file seems to want negative value to detect failure
return result == 0 ? 0 : -1;