HAL Component — AT_PIDV2
INSTANTIABLE COMPONENTS — General
All instantiable components can be loaded in two manners
Using loadrt with or without count= | names= parameters as per legacy components
Using newinst, which names the instance and allows further parameters and arguments
primarily pincount= which can set the number of pins created for that instance (where applicable)
at_pidv2 — HAL component that provides Proportional Integeral/Derivative control loops. It is a realtime component.
newinst at_pidv2 <newinstname> [ pincount=N | iprefix=prefix ] [instanceparamX=X | argX=X ]
( args in [ ] denote possible args and parameters, may not be used in all components )
This file, 'at_pid.icomp', is a HAL component that provides Proportional/ Integeral/Derivative control loops. It is a realtime component.
In this documentation, it is assumed that we are discussing position loops. However this component can be used to implement other loops such as speed loops, torch height control, and others.
The three most important pins are 'command', 'feedback', and 'output'. For a position loop, 'command' and 'feedback' are in position units. For a linear axis, this could be inches, mm, metres, or whatever is relavent. Likewise, for a angular axis, it could be degrees, radians, etc. The units of the 'output' pin represent the change needed to make the feedback match the command. As such, for a position loop 'Output' is a velocity, in inches/sec, mm/sec, degrees/sec, etc.
Each loop has several other pins as well. 'error' is equal to 'command' minus 'feedback'. 'enable' is a bit that enables the loop. If 'enable' is false, all integrators are reset, and the output is forced to zero. If 'enable' is true, the loop operates normally.
The PID gains, limits, and other 'tunable' features of the loop are implemented as parameters. These are as follows:
Pgain Proportional gain Igain Integral gain Dgain Derivative gain bias Constant offset on output FF0 Zeroth order Feedforward gain FF1 First order Feedforward gain FF2 Second order Feedforward gain deadband Amount of error that will be ignored maxerror Limit on error maxerrorI Limit on error integrator maxerrorD Limit on error differentiator maxcmdD Limit on command differentiator maxcmdDD Limit on command 2nd derivative maxoutput Limit on output value
All of the limits (max____) are implemented such that if the parameter value is zero, there is no limit.
A number of internal values which may be usefull for testing and tuning are also available as parameters. To avoid cluttering the parameter list, these are only exported if "debug=1" is specified on the insmod command line.
errorI Integral of error errorD Derivative of error cmdD Derivative of the command cmdDd 2nd derivative of the command
The PID loop calculations are as follows (see the code for all the nitty gritty details):
error = command - feedback if ( fabs(error) < deadband ) then error = 0 limit error to +/- maxerror errorI += error * period limit errorI to +/- maxerrorI errorD = (error - previouserror) / period limit errorD to +/- paxerrorD cmdD = (command - previouscommand) / period limit cmdD to +/- maxcmdD cmdDd = (cmdD - previouscmdD) / period limit cmdDd to +/- maxcmdDD output = bias + error * Pgain + errorI * Igain + errorD * Dgain + command * FF0 + cmdD * FF1 + cmdDd * FF2 limit output to +/- maxoutput
This component exports one function called '<name>.do-pid-calcs'
at_pidv2.N.do-pid-calcs.funct ( OR <newinstname>.do-pid-calcs.funct (requires a floating-point thread) )