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


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

@/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/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/activeDiffBias.lua


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

@/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/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/activeDiffLock.lua


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

@/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/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/drivingDynamics/actuators/activeCenterDiffLock.lua


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

@/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)