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/*
*
* Copyright 2016 gRPC authors.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include "src/core/lib/transport/pid_controller.h"
#include <grpc/support/useful.h>
namespace grpc_core {
PidController::PidController(const Args &args)
: last_control_value_(args.initial_control_value()), args_(args) {}
double PidController::Update(double error, double dt) {
if (dt <= 0) return last_control_value_;
/* integrate error using the trapezoid rule */
error_integral_ += dt * (last_error_ + error) * 0.5;
error_integral_ = GPR_CLAMP(error_integral_, -args_.integral_range(),
args_.integral_range());
double diff_error = (error - last_error_) / dt;
/* calculate derivative of control value vs time */
double dc_dt = args_.gain_p() * error + args_.gain_i() * error_integral_ +
args_.gain_d() * diff_error;
/* and perform trapezoidal integration */
double new_control_value =
last_control_value_ + dt * (last_dc_dt_ + dc_dt) * 0.5;
new_control_value = GPR_CLAMP(new_control_value, args_.min_control_value(),
args_.max_control_value());
last_error_ = error;
last_dc_dt_ = dc_dt;
last_control_value_ = new_control_value;
return new_control_value;
}
} // namespace grpc_core
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