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import krpc | |
import math | |
import time | |
# http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/ | |
class PIDController(object): | |
""" A robust PID """ | |
def __init__(self, input, setpoint, kp, ki, kd, outmin = 0, outmax = 0): | |
self.last_time = time.time() | |
self.i_term = 0 | |
self.last_input = input | |
self.setparams(setpoint, kp, ki, kd, outmin, outmax) | |
def setparams(self, setpoint, kp, ki, kd, outmin = -float('inf'), outmax = float('inf')): | |
self.setpoint = setpoint | |
self.kp = kp | |
self.ki = ki | |
self.kd = kd | |
self.outmin = outmin | |
self.outmax = outmax | |
self.i_term = sorted((self.outmin, self.i_term, self.outmax))[1] | |
def update(self, input): | |
now = time.time() | |
time_change = now - self.last_time | |
if time_change < 0.05: | |
return 0 | |
error = self.error(input) | |
self.i_term += self.ki * error * time_change | |
self.i_term = sorted((self.outmin, self.i_term, self.outmax))[1] | |
d_input = (input - self.last_input) / time_change | |
output = self.kp * error + self.i_term - self.kd * d_input | |
output = sorted((self.outmin, output, self.outmax))[1] | |
self.last_input = input | |
self.last_time = now | |
return output | |
def error(self, input): | |
return self.setpoint - input | |
conn = krpc.connect() | |
vessel = conn.space_center.active_vessel | |
control = vessel.control | |
control.roll = 0 | |
roll = conn.add_stream(getattr, vessel.flight(), 'roll') | |
t = vessel.reaction_wheel_torque[2] # torque vector is pitch,heading,roll | |
I = vessel.moment_of_inertia[1] # roll axis is in y-axis | |
print 'Torque = %.2f Nm' % t | |
print 'MoI = %.2f kg/m^2' % I | |
setpoint = 45 * (math.pi / 180.0) | |
O = 0.01 | |
Tp = 3 | |
print 'Overshoot = %.1f' % (O*100) + '%' | |
print 'Time to peak = %.2f s' % Tp | |
# tune Kp and Kd | |
logO = math.log(O) | |
z = math.sqrt((logO*logO) / (math.pi*math.pi + logO*logO)) | |
w = math.pi / (Tp * math.sqrt(1.0 - z*z)) | |
kp = (I * w * w) / t | |
kd = (2 * z * w * I) / t | |
print 'z = %.2f' % z | |
print 'w = %.2f' % w | |
print 'Kp = %.2f' % kp | |
print 'Kd = %.2f' % kd | |
# run control loop | |
pid = PIDController(roll(), setpoint, kp, 0, kd, -1, 1) | |
while True: | |
input = roll() * (math.pi / 180.0) | |
output = pid.update(input) | |
print 'input = %+.3f, setpoint = %.3f, error = %+.3f, output = %+.3f' % (input, setpoint, pid.error(input), output) | |
control.roll = output | |
time.sleep(0.1) |
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