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pid_controlled_system.cc
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pid_controlled_system.cc
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#include "drake/systems/controllers/pid_controlled_system.h"
#include "drake/common/default_scalars.h"
#include "drake/common/drake_assert.h"
#include "drake/systems/primitives/saturation.h"
namespace drake {
namespace systems {
namespace controllers {
template <typename T>
PidControlledSystem<T>::PidControlledSystem(std::unique_ptr<System<T>> plant,
double Kp, double Ki, double Kd,
int state_output_port_index,
int plant_input_port_index)
: state_output_port_index_(state_output_port_index),
plant_input_port_index_{plant_input_port_index} {
const int input_size = plant->get_input_port(plant_input_port_index_).size();
const Eigen::VectorXd Kp_v = Eigen::VectorXd::Ones(input_size) * Kp;
const Eigen::VectorXd Ki_v = Eigen::VectorXd::Ones(input_size) * Ki;
const Eigen::VectorXd Kd_v = Eigen::VectorXd::Ones(input_size) * Kd;
const MatrixX<double> selector = MatrixX<double>::Identity(
plant->get_input_port(plant_input_port_index_).size() * 2,
plant->get_input_port(plant_input_port_index_).size() * 2);
Initialize(std::move(plant), selector, Kp_v, Ki_v, Kd_v);
}
template <typename T>
PidControlledSystem<T>::PidControlledSystem(std::unique_ptr<System<T>> plant,
const Eigen::VectorXd& Kp,
const Eigen::VectorXd& Ki,
const Eigen::VectorXd& Kd,
int state_output_port_index,
int plant_input_port_index)
: PidControlledSystem(
std::move(plant),
MatrixX<double>::Identity(2 * Kp.size(), 2 * Kp.size()), Kp, Ki, Kd,
state_output_port_index, plant_input_port_index) {}
template <typename T>
PidControlledSystem<T>::PidControlledSystem(
std::unique_ptr<System<T>> plant, const MatrixX<double>& feedback_selector,
double Kp, double Ki, double Kd, int state_output_port_index,
int plant_input_port_index)
: state_output_port_index_(state_output_port_index),
plant_input_port_index_{plant_input_port_index} {
const int input_size = plant->get_input_port(plant_input_port_index_).size();
const Eigen::VectorXd Kp_v = Eigen::VectorXd::Ones(input_size) * Kp;
const Eigen::VectorXd Ki_v = Eigen::VectorXd::Ones(input_size) * Ki;
const Eigen::VectorXd Kd_v = Eigen::VectorXd::Ones(input_size) * Kd;
Initialize(std::move(plant), feedback_selector, Kp_v, Ki_v, Kd_v);
}
template <typename T>
PidControlledSystem<T>::PidControlledSystem(
std::unique_ptr<System<T>> plant, const MatrixX<double>& feedback_selector,
const Eigen::VectorXd& Kp, const Eigen::VectorXd& Ki,
const Eigen::VectorXd& Kd, int state_output_port_index,
int plant_input_port_index)
: state_output_port_index_(state_output_port_index),
plant_input_port_index_{plant_input_port_index} {
Initialize(std::move(plant), feedback_selector, Kp, Ki, Kd);
}
template <typename T>
void PidControlledSystem<T>::Initialize(
std::unique_ptr<System<T>> plant, const MatrixX<double>& feedback_selector,
const Eigen::VectorXd& Kp, const Eigen::VectorXd& Ki,
const Eigen::VectorXd& Kd) {
DRAKE_DEMAND(plant != nullptr);
DiagramBuilder<T> builder;
plant_ = builder.template AddSystem(std::move(plant));
DRAKE_ASSERT(plant_->num_input_ports() >= 1);
DRAKE_ASSERT(plant_->num_output_ports() >= 1);
// state_output_port_index_ will be checked by the get_output_port call below.
auto input_ports =
ConnectController(plant_->get_input_port(plant_input_port_index_),
plant_->get_output_port(state_output_port_index_),
feedback_selector, Kp, Ki, Kd, &builder);
builder.ExportInput(input_ports.control_input_port);
builder.ExportInput(input_ports.state_input_port);
for (int i=0; i < plant_->num_output_ports(); i++) {
builder.ExportOutput(plant_->get_output_port(i));
}
builder.BuildInto(this);
}
template <typename T>
typename PidControlledSystem<T>::ConnectResult
PidControlledSystem<T>::ConnectController(
const InputPort<T>& plant_input,
const OutputPort<T>& plant_output,
const MatrixX<double>& feedback_selector, const Eigen::VectorXd& Kp,
const Eigen::VectorXd& Ki, const Eigen::VectorXd& Kd,
DiagramBuilder<T>* builder) {
auto controller = builder->template AddSystem<PidController<T>>(
feedback_selector,
Kp, Ki, Kd);
auto plant_input_adder =
builder->template AddSystem<Adder<T>>(2, plant_input.size());
builder->Connect(plant_output, controller->get_input_port_estimated_state());
builder->Connect(controller->get_output_port_control(),
plant_input_adder->get_input_port(0));
builder->Connect(plant_input_adder->get_output_port(), plant_input);
return ConnectResult{
plant_input_adder->get_input_port(1),
controller->get_input_port_desired_state()};
}
template <typename T>
typename PidControlledSystem<T>::ConnectResult
PidControlledSystem<T>::ConnectController(
const InputPort<T>& plant_input,
const OutputPort<T>& plant_output,
const Eigen::VectorXd& Kp, const Eigen::VectorXd& Ki,
const Eigen::VectorXd& Kd,
DiagramBuilder<T>* builder) {
return ConnectController(plant_input, plant_output,
MatrixX<double>::Identity(plant_output.size(), plant_output.size()),
Kp, Ki, Kd, builder);
}
template <typename T>
typename PidControlledSystem<T>::ConnectResult
PidControlledSystem<T>::ConnectControllerWithInputSaturation(
const InputPort<T>& plant_input,
const OutputPort<T>& plant_output,
const MatrixX<double>& feedback_selector, const Eigen::VectorXd& Kp,
const Eigen::VectorXd& Ki, const Eigen::VectorXd& Kd,
const VectorX<T>& min_plant_input, const VectorX<T>& max_plant_input,
DiagramBuilder<T>* builder) {
auto saturation = builder->template AddSystem<Saturation<T>>(
min_plant_input, max_plant_input);
builder->Connect(saturation->get_output_port(), plant_input);
return
PidControlledSystem<T>::ConnectController(saturation->get_input_port(),
plant_output, feedback_selector, Kp, Ki, Kd, builder);
}
template <typename T>
typename PidControlledSystem<T>::ConnectResult
PidControlledSystem<T>::ConnectControllerWithInputSaturation(
const InputPort<T>& plant_input,
const OutputPort<T>& plant_output,
const Eigen::VectorXd& Kp, const Eigen::VectorXd& Ki,
const Eigen::VectorXd& Kd, const VectorX<T>& min_plant_input,
const VectorX<T>& max_plant_input, DiagramBuilder<T>* builder) {
return ConnectControllerWithInputSaturation(plant_input, plant_output,
MatrixX<double>::Identity(plant_output.size(), plant_output.size()),
Kp, Ki, Kd, min_plant_input, max_plant_input, builder);
}
template <typename T>
PidControlledSystem<T>::~PidControlledSystem() {}
} // namespace controllers
} // namespace systems
} // namespace drake
DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS(
class ::drake::systems::controllers::PidControlledSystem)