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improved PID controller

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-01-21 21:41:25 +01:00
parent 38a1d5a40c
commit daf06fa466
3 changed files with 140 additions and 36 deletions
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46
js/serial_queue.js
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@ -19,46 +19,20 @@ helper.mspQueue = (function (serial, MSP) {
privateScope.currentLoad = 0;
privateScope.loadPid = {
gains: {
P: 10,
I: 4,
D: 2
},
Iterm: 0,
ItermLimit: 85,
previousError: 0,
output: {
min: 0,
max: 97,
minThreshold: 0
}
};
/**
* PID controller used to perform throttling
* @type {classes.PidController}
*/
privateScope.loadPidController = new classes.PidController();
privateScope.loadPidController.setTarget(privateScope.targetLoad);
privateScope.loadPidController.setOutput(0, 97, 0);
privateScope.loadPidController.setGains(16, 6, 4);
privateScope.loadPidController.setItermLimit(0, 90);
privateScope.dropRatio = 0;
publicScope.computeDropRatio = function () {
var error = privateScope.currentLoad - privateScope.targetLoad;
var Pterm = error * privateScope.loadPid.gains.P,
Dterm = (error - privateScope.loadPid.previousError) * privateScope.loadPid.gains.D;
privateScope.loadPid.previousError = error;
privateScope.loadPid.Iterm += error * privateScope.loadPid.gains.I;
if (privateScope.loadPid.Iterm > privateScope.loadPid.ItermLimit) {
privateScope.loadPid.Iterm = privateScope.loadPid.ItermLimit;
} else if (privateScope.loadPid.Iterm < -privateScope.loadPid.ItermLimit) {
privateScope.loadPid.Iterm = -privateScope.loadPid.ItermLimit;
}
privateScope.dropRatio = Pterm + privateScope.loadPid.Iterm + Dterm;
if (privateScope.dropRatio < privateScope.loadPid.output.minThreshold) {
privateScope.dropRatio = privateScope.loadPid.output.min;
}
if (privateScope.dropRatio > privateScope.loadPid.output.max) {
privateScope.dropRatio = privateScope.loadPid.output.max;
}
privateScope.dropRatio = privateScope.loadPidController.run(publicScope.getLoad());
};
publicScope.getDropRatio = function () {