PID #
PID (Proportional-Integral-Derivative) Controller Component
This component implements a PID controller, which is used to minimize the error between a desired setpoint and the actual process variable. The PID algorithm calculates an output value based on the proportional, integral, and derivative terms of the error. It is widely used in control systems for applications such as motor speed control, temperature regulation, and more.
Pins #
| Name | Description |
|---|---|
| pos_ext_cmd | cmd in (rad) |
| pos_fb | feedback in (rad) |
| pos_error | error out (rad) |
| vel_ext_cmd | cmd in (rad/s) |
| vel_fb | feedback in (rad/s) |
| vel_cmd | cmd out (rad/s) |
| vel_error | error out (rad/s) |
| acc_ext_cmd | cmd in (rad/s^2) |
| acc_cmd | cmd out (rad/s^2) |
| acc_cmd_lp | cmd out (rad/s^2) |
| acc_cmd_hp | cmd out (rad/s^2) |
| torque_ext_cmd | cmd in (Nm) |
| fb_torque_cmd | feedback cmd out (Nm) |
| ff_torque_cmd | feedforward cmd out (Nm) |
| torque_cmd | cmd out (Nm) |
| torque_sum | |
| en | |
| pos_en | |
| vel_en | |
| pos_bw | (1/s) |
| vel_bw | (1/s) |
| vel_d | |
| vel_g | |
| torque_g | |
| scale | |
| j_lpf | |
| acc_g | |
| j_mot | motor inertia (kgm^2) |
| f | (Nm) |
| d | (Nm/rad/s) |
| j_sys | system inertia(kgm^2) |
| o | (Nm) |
| max_vel | (rad/s) |
| neg_min_vel | (rad/s) |
| max_acc | (rad/s^2) |
| max_torque | (Nm) |
| neg_min_torque | (Nm) |
| vel_sat | |
| torque_sat | |
| sat | (s) |
References #
Source: .c File