1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
5 Date started: 6/17/2006
7 ------------- Copyright (C) 2006 Jon S. Berndt (jsb@hal-pc.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
28 Initial code 6/17/2006 JSB
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 COMMENTS, REFERENCES, and NOTES
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
42 static const char *IdSrc = "$Id$";
43 static const char *IdHdr = ID_PID;
45 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
49 FGPID::FGPID(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
51 string kp_string, ki_string, kd_string;
52 dt = fcs->GetState()->Getdt();
62 Input_prev = Input_prev2 = 0.0;
65 if ( element->FindElement("kp") ) {
66 kp_string = element->FindElementValue("kp");
67 if (kp_string.find_first_not_of("+-.0123456789Ee") != string::npos) { // property
68 if (kp_string[0] == '-') {
69 KpPropertySign = -1.0;
72 KpPropertyNode = PropertyManager->GetNode(kp_string);
74 Kp = element->FindElementValueAsNumber("kp");
78 if ( element->FindElement("ki") ) {
79 ki_string = element->FindElementValue("ki");
80 if (ki_string.find_first_not_of("+-.0123456789Ee") != string::npos) { // property
81 if (ki_string[0] == '-') {
82 KiPropertySign = -1.0;
85 KiPropertyNode = PropertyManager->GetNode(ki_string);
87 Ki = element->FindElementValueAsNumber("ki");
91 if ( element->FindElement("kd") ) {
92 kd_string = element->FindElementValue("kd");
93 if (kd_string.find_first_not_of("+-.0123456789Ee") != string::npos) { // property
94 if (kd_string[0] == '-') {
95 KdPropertySign = -1.0;
98 KdPropertyNode = PropertyManager->GetNode(kd_string);
100 Kd = element->FindElementValueAsNumber("kd");
104 //if (element->FindElement("kp")) Kp = element->FindElementValueAsNumber("kp");
105 //if (element->FindElement("ki")) Ki = element->FindElementValueAsNumber("ki");
106 //if (element->FindElement("kd")) Kd = element->FindElementValueAsNumber("kd");
107 if (element->FindElement("trigger")) {
108 Trigger = PropertyManager->GetNode(element->FindElementValue("trigger"));
111 FGFCSComponent::bind();
116 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
123 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
125 bool FGPID::Run(void )
127 double I_out_delta = 0.0;
130 Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
132 if (KpPropertyNode != 0) Kp = KpPropertyNode->getDoubleValue() * KpPropertySign;
133 if (KiPropertyNode != 0) Ki = KiPropertyNode->getDoubleValue() * KiPropertySign;
134 if (KdPropertyNode != 0) Kd = KdPropertyNode->getDoubleValue() * KdPropertySign;
137 D_out = (Kd / dt) * (Input - Input_prev);
139 // Do not continue to integrate the input to the integrator if a wind-up
140 // condition is sensed - that is, if the property pointed to by the trigger
141 // element is non-zero. Reset the integrator to 0.0 if the Trigger value
145 double test = Trigger->getDoubleValue();
146 if (fabs(test) < 0.000001) I_out_delta = Ki * dt * Input; // Normal
147 if (test < 0.0) I_out_total = 0.0; // Reset integrator to 0.0
148 } else { // no anti-wind-up trigger defined
149 I_out_delta = Ki * dt * Input;
152 I_out_total += I_out_delta;
154 Output = P_out + I_out_total + D_out;
157 Input_prev2 = Input_prev;
160 if (IsOutput) SetOutput();
165 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
166 // The bitmasked value choices are as follows:
167 // unset: In this case (the default) JSBSim would only print
168 // out the normally expected messages, essentially echoing
169 // the config files as they are read. If the environment
170 // variable is not set, debug_lvl is set to 1 internally
171 // 0: This requests JSBSim not to output any messages
173 // 1: This value explicity requests the normal JSBSim
175 // 2: This value asks for a message to be printed out when
176 // a class is instantiated
177 // 4: When this value is set, a message is displayed when a
178 // FGModel object executes its Run() method
179 // 8: When this value is set, various runtime state variables
180 // are printed out periodically
181 // 16: When set various parameters are sanity checked and
182 // a message is printed out when they go out of bounds
184 void FGPID::Debug(int from)
186 if (debug_lvl <= 0) return;
188 if (debug_lvl & 1) { // Standard console startup message output
189 if (from == 0) { // Constructor
190 if (InputSigns[0] < 0)
191 cout << " INPUT: -" << InputNodes[0]->getName() << endl;
193 cout << " INPUT: " << InputNodes[0]->getName() << endl;
195 if (IsOutput) cout << " OUTPUT: " << OutputNode->getName() << endl;
198 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
199 if (from == 0) cout << "Instantiated: FGPID" << endl;
200 if (from == 1) cout << "Destroyed: FGPID" << endl;
202 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
204 if (debug_lvl & 8 ) { // Runtime state variables
206 if (debug_lvl & 16) { // Sanity checking
208 if (debug_lvl & 64) {
209 if (from == 0) { // Constructor
210 cout << IdSrc << endl;
211 cout << IdHdr << endl;