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Pid

oxiphysics_core::control

Struct Pid

pub struct Pid {
    pub kp: f64,
    pub ki: f64,
    pub kd: f64,
    pub integral: f64,
    pub prev_error: f64,
    pub derivative_filter_state: f64,
    pub filter_coeff: f64,
    pub integral_limit: f64,
    pub output_max: f64,
    pub output_min: f64,
}

Expand description

Proportional-integral-derivative (PID) controller with anti-windup and derivative filter.

Fields§

§kp: f64

Proportional gain.

§ki: f64

Integral gain.

§kd: f64

Derivative gain.

§integral: f64

Integral accumulator.

§prev_error: f64

Previous error for derivative computation.

§derivative_filter_state: f64

Filtered derivative state.

§filter_coeff: f64

Derivative filter coefficient N (cutoff factor).

§integral_limit: f64

Anti-windup: maximum integral magnitude.

§output_max: f64

Output saturation maximum.

§output_min: f64

Output saturation minimum.

Implementations§

impl Pid

pub fn new(kp: f64, ki: f64, kd: f64) -> Self

Create a new PID controller with given gains.

pub fn set_gains(&mut self, kp: f64, ki: f64, kd: f64)

Set gains.

pub fn set_integral_limit(&mut self, limit: f64)

Set anti-windup integral limit.

pub fn set_output_limits(&mut self, min: f64, max: f64)

Set output saturation limits.

pub fn compute(&mut self, error: f64, dt: f64) -> f64

Compute PID output given current error and time step dt.

pub fn reset(&mut self)

Reset internal state.

Trait Implementations§

impl Clone for Pid

fn clone(&self) -> Pid

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

impl Debug for Pid

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

Auto Trait Implementations§

impl Freeze for Pid

impl RefUnwindSafe for Pid

impl Send for Pid

impl Sync for Pid

impl Unpin for Pid

impl UnsafeUnpin for Pid

impl UnwindSafe for Pid

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.