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newPIDParallel

Definition


-- @/lua/common/controlSystems.lua:18

--Usage:
--local myPID = newPIDParallel(1, 0.5, 0.1, 0, 1)
--local control = myPID:get(processVariable, setPoint, dt)
--This PID uses derivative calculation based on the process variable rather than the error to avoid spikes when changing the setpoint
function newPIDParallel(kP, kI, kD, minOutput, maxOutput, integralInCoef, integralOutCoef, minIntegral, maxIntegral, errorDeadzone)
  local data = {
    kP = kP,
    kI = kI,
    kD = kD,
    error = 0,
    integral = 0,
    output = 0,
    integralInCoef = integralInCoef or 1,
    integralOutCoef = integralOutCoef or 1,
    lastProcessVariable = 0,
    minOutput = minOutput or -math.huge,
    maxOutput = maxOutput or math.huge,
    errorDeadzone = errorDeadzone or 0.0,
    get = PIDParallel.getMethod
  }
  data.maxIntegral = maxIntegral or data.maxOutput / kI
  data.minIntegral = minIntegral or -data.maxIntegral
  setmetatable(data, PIDParallel)
  return data
end

Callers

@/lua/vehicle/controller/powertrainControl/combustionEngineGovenor.lua


  engineRPMPID = newPIDParallel(jbeamData.rpmPIDp or 0.5, jbeamData.rpmPIDi or 0.1, jbeamData.rpmPIDd or 0.05, -1, 1, 1, 1, -10, 10)

@/lua/vehicle/controller/hydraulics/orbitrolSteering.lua

local function init(jbeamData)
  steeringPID = newPIDParallel(jbeamData.steeringPIDKp or 0.5, jbeamData.steeringPIDKi or 0.3, jbeamData.steeringPIDKd or 0.01, -1, 1, 1000, 1000, -1, 1, 0.002)
  --steeringPID:setDebug(true)

@/lua/vehicle/controller/drivingDynamics/supervisors/components/brakeControl.lua

        end
        wheelControlData[wheelData.wheel.name].tractionControlBrakingPID = newPIDParallel(kP, kI, kD, 0, 1, integralInCoef, integralOutCoef, 0)
        wheelControlData[wheelData.wheel.name].brakeFactorTractionControl = 0


    yawControlAVBrakingPID = newPIDParallel(avSettings.kP, avSettings.kI, avSettings.kD, 0, 1, avSettings.integralInCoef, avSettings.integralOutCoef, 0)
    yawControlSlipAngleBrakingPID = newPIDParallel(slipAngleSettings.kP, slipAngleSettings.kI, slipAngleSettings.kD, 0, 1, slipAngleSettings.integralInCoef, slipAngleSettings.integralOutCoef, 0)

    yawControlAVBrakingPID = newPIDParallel(avSettings.kP, avSettings.kI, avSettings.kD, 0, 1, avSettings.integralInCoef, avSettings.integralOutCoef, 0)
    yawControlSlipAngleBrakingPID = newPIDParallel(slipAngleSettings.kP, slipAngleSettings.kI, slipAngleSettings.kD, 0, 1, slipAngleSettings.integralInCoef, slipAngleSettings.integralOutCoef, 0)

          slipThreshold = slipThreshold,
          absBrakingPID = newPIDParallel(kP, kI, kD, 0, 1, integralInCoef, integralOutCoef, 0),
          absCoef = 1,

@/lua/vehicle/controller/drivingDynamics/actuators/activeDiffLock.lua


  lockingPID = newPIDParallel(controlParameters.lockingPIDkP, controlParameters.lockingPIDkI, controlParameters.lockingPIDkD, 0, 1)

@/lua/vehicle/controller/playerController.lua

local stabilizationPIDs = {
  frontRear = newPIDParallel(2, 0.1, 0.3, -1, 1, 100, 50, -1, 1),
  leftRight = newPIDParallel(2, 0.1, 0.3, -1, 1, 100, 50, -1, 1),

  frontRear = newPIDParallel(2, 0.1, 0.3, -1, 1, 100, 50, -1, 1),
  leftRight = newPIDParallel(2, 0.1, 0.3, -1, 1, 100, 50, -1, 1),
  yawPosition = newPIDParallel(2, 0.0, 0.5, -1, 1)

  leftRight = newPIDParallel(2, 0.1, 0.3, -1, 1, 100, 50, -1, 1),
  yawPosition = newPIDParallel(2, 0.0, 0.5, -1, 1)
}

@/lua/vehicle/controller/drivingDynamics/actuators/electronicSplitShaftLock.lua


  clutchRatioPID = newPIDParallel(controlParameters.clutchPIDkP, controlParameters.clutchPIDkI, controlParameters.clutchPIDkD, 0, 1, nil, nil, 0)

@/lua/vehicle/controller/hydraulics/closedLoopLinearControl.lua

local function init(jbeamData)
  cylinderPID = newPIDParallel(jbeamData.cylinderPIDKp or 0.5, jbeamData.cylinderPIDKi or 0.3, jbeamData.cylinderPIDKd or 0.01, -1, 1, 1000, 10, nil, nil, 0.01)
  cylinderPID:setDebug(true)

@/lua/vehicle/controller/vehicleController/vehicleController.lua

  topSpeedLimitReverse = jbeamData.topSpeedLimitReverse or -1
  topSpeedLimitPID = newPIDParallel(0.2, 1, 0, 0, 1, 50, 20, 0, 1)
  --topSpeedLimitPID:setDebug(true)

@/lua/vehicle/controller/drivingDynamics/supervisors/components/motorTorqueControl.lua

        wheelGroupControlData[groupSetting.motorName] = {
          tractionControlPID = newPIDParallel(kP, kI, kD, 0, 1, integralInCoef, integralOutCoef, 0),
          slipThreshold = slipThreshold,


    yawControlAVPID = newPIDParallel(avSettings.kP, avSettings.kI, avSettings.kD, 0, 1, avSettings.integralInCoef, avSettings.integralOutCoef, 0)
    yawControlSlipAnglePID = newPIDParallel(slipAngleSettings.kP, slipAngleSettings.kI, slipAngleSettings.kD, 0, 1, slipAngleSettings.integralInCoef, slipAngleSettings.integralOutCoef, 0)

    yawControlAVPID = newPIDParallel(avSettings.kP, avSettings.kI, avSettings.kD, 0, 1, avSettings.integralInCoef, avSettings.integralOutCoef, 0)
    yawControlSlipAnglePID = newPIDParallel(slipAngleSettings.kP, slipAngleSettings.kI, slipAngleSettings.kD, 0, 1, slipAngleSettings.integralInCoef, slipAngleSettings.integralOutCoef, 0)

@/lua/vehicle/controller/drivingDynamics/actuators/activeCenterDiffLock.lua


  lockCoefPID = newPIDParallel(controlParameters.clutchPIDkP, controlParameters.clutchPIDkI, controlParameters.clutchPIDkD, 0, 1, nil, nil, 0)

@/lua/vehicle/controller/drivingDynamics/actuators/electronicDiffLock.lua


  brakingPID = newPIDParallel(controlParameters.brakingPIDkP, controlParameters.brakingPIDkI, controlParameters.brakingPIDkD, -1, 1)

@/lua/vehicle/controller/powertrainControl/antiLag.lua


  turboAVPIDController = newPIDParallel(0.01, 0, 0, 0, 1, -10, 10)

@/lua/common/controlSystems.lua

--Usage:
--local myPID = newPIDParallel(1, 0.5, 0.1, 0, 1)
--local control = myPID:get(processVariable, setPoint, dt)

@/lua/vehicle/controller/drivingDynamics/actuators/activeDiffBias.lua


  biasPID = newPIDParallel(controlParameters.brakingPIDkP, controlParameters.brakingPIDkI, controlParameters.brakingPIDkD, -1, 1, 1000, 100)