This is a copy of the Reference Standard PID controller ala controlguru.com
Dependents: PIDHeater Printer PIDHeater82 UltiSaverController
Fork of PID by
PID.h@3:316f974b7f98, 2016-02-07 (annotated)
- Committer:
- unix_guru
- Date:
- Sun Feb 07 19:06:37 2016 +0000
- Revision:
- 3:316f974b7f98
- Parent:
- 2:55bf0f813bb4
Moved from Double to Floating point PID library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
unix_guru | 2:55bf0f813bb4 | 1 | /** |
unix_guru | 3:316f974b7f98 | 2 | * @author Brett Beauregard |
unix_guru | 2:55bf0f813bb4 | 3 | * |
unix_guru | 2:55bf0f813bb4 | 4 | * @section LICENSE |
unix_guru | 2:55bf0f813bb4 | 5 | * |
unix_guru | 2:55bf0f813bb4 | 6 | * Copyright (c) 2010 ARM Limited |
unix_guru | 2:55bf0f813bb4 | 7 | * |
unix_guru | 2:55bf0f813bb4 | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
unix_guru | 2:55bf0f813bb4 | 9 | * of this software and associated documentation files (the "Software"), to deal |
unix_guru | 2:55bf0f813bb4 | 10 | * in the Software without restriction, including without limitation the rights |
unix_guru | 2:55bf0f813bb4 | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
unix_guru | 2:55bf0f813bb4 | 12 | * copies of the Software, and to permit persons to whom the Software is |
unix_guru | 2:55bf0f813bb4 | 13 | * furnished to do so, subject to the following conditions: |
unix_guru | 2:55bf0f813bb4 | 14 | * |
unix_guru | 2:55bf0f813bb4 | 15 | * The above copyright notice and this permission notice shall be included in |
unix_guru | 2:55bf0f813bb4 | 16 | * all copies or substantial portions of the Software. |
unix_guru | 2:55bf0f813bb4 | 17 | * |
unix_guru | 2:55bf0f813bb4 | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
unix_guru | 2:55bf0f813bb4 | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
unix_guru | 2:55bf0f813bb4 | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
unix_guru | 2:55bf0f813bb4 | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
unix_guru | 2:55bf0f813bb4 | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
unix_guru | 2:55bf0f813bb4 | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
unix_guru | 2:55bf0f813bb4 | 24 | * THE SOFTWARE. |
unix_guru | 2:55bf0f813bb4 | 25 | * |
unix_guru | 2:55bf0f813bb4 | 26 | * @section DESCRIPTION |
unix_guru | 2:55bf0f813bb4 | 27 | * |
unix_guru | 2:55bf0f813bb4 | 28 | * A PID controller is a widely used feedback controller commonly found in |
unix_guru | 2:55bf0f813bb4 | 29 | * industry. |
unix_guru | 2:55bf0f813bb4 | 30 | * |
unix_guru | 2:55bf0f813bb4 | 31 | * This library is a port of Brett Beauregard's Arduino PID library: |
unix_guru | 2:55bf0f813bb4 | 32 | * |
unix_guru | 3:316f974b7f98 | 33 | * https://github.com/br3ttb/Arduino-PID-Library |
unix_guru | 2:55bf0f813bb4 | 34 | * |
unix_guru | 2:55bf0f813bb4 | 35 | * The wikipedia article on PID controllers is a good place to start on |
unix_guru | 2:55bf0f813bb4 | 36 | * understanding how they work: |
unix_guru | 2:55bf0f813bb4 | 37 | * |
unix_guru | 2:55bf0f813bb4 | 38 | * http://en.wikipedia.org/wiki/PID_controller |
unix_guru | 2:55bf0f813bb4 | 39 | * |
unix_guru | 2:55bf0f813bb4 | 40 | * For a clear and elegant explanation of how to implement and tune a |
unix_guru | 2:55bf0f813bb4 | 41 | * controller, the controlguru website by Douglas J. Cooper (who also happened |
unix_guru | 2:55bf0f813bb4 | 42 | * to be Brett's controls professor) is an excellent reference: |
unix_guru | 2:55bf0f813bb4 | 43 | * |
unix_guru | 2:55bf0f813bb4 | 44 | * http://www.controlguru.com/ |
unix_guru | 2:55bf0f813bb4 | 45 | */ |
unix_guru | 2:55bf0f813bb4 | 46 | |
unix_guru | 2:55bf0f813bb4 | 47 | |
unix_guru | 2:55bf0f813bb4 | 48 | /** |
unix_guru | 2:55bf0f813bb4 | 49 | * Includes |
unix_guru | 2:55bf0f813bb4 | 50 | */ |
unix_guru | 2:55bf0f813bb4 | 51 | #include "mbed.h" |
unix_guru | 2:55bf0f813bb4 | 52 | |
unix_guru | 2:55bf0f813bb4 | 53 | /** |
unix_guru | 2:55bf0f813bb4 | 54 | * Defines |
unix_guru | 2:55bf0f813bb4 | 55 | */ |
unix_guru | 2:55bf0f813bb4 | 56 | |
unix_guru | 3:316f974b7f98 | 57 | #ifndef PID_H |
unix_guru | 3:316f974b7f98 | 58 | #define PID_H |
unix_guru | 3:316f974b7f98 | 59 | |
unix_guru | 3:316f974b7f98 | 60 | #define LIBRARY_VERSION 1.1.1 |
unix_guru | 3:316f974b7f98 | 61 | |
unix_guru | 3:316f974b7f98 | 62 | class PID |
unix_guru | 3:316f974b7f98 | 63 | { |
arnaudsuire | 0:d58c1b8d63d9 | 64 | |
arnaudsuire | 0:d58c1b8d63d9 | 65 | |
unix_guru | 3:316f974b7f98 | 66 | public: |
unix_guru | 3:316f974b7f98 | 67 | |
unix_guru | 3:316f974b7f98 | 68 | //Constants used in some of the functions below |
unix_guru | 3:316f974b7f98 | 69 | #define AUTOMATIC 1 |
unix_guru | 3:316f974b7f98 | 70 | #define MANUAL 0 |
unix_guru | 3:316f974b7f98 | 71 | #define DIRECT 0 |
unix_guru | 3:316f974b7f98 | 72 | #define REVERSE 1 |
unix_guru | 2:55bf0f813bb4 | 73 | |
unix_guru | 3:316f974b7f98 | 74 | //commonly used functions ************************************************************************** |
unix_guru | 3:316f974b7f98 | 75 | PID(float*, float*, float*, // * constructor. links the PID to the Input, Output, and |
unix_guru | 3:316f974b7f98 | 76 | float, float, float, int); // Setpoint. Initial tuning parameters are also set here |
unix_guru | 3:316f974b7f98 | 77 | |
unix_guru | 3:316f974b7f98 | 78 | void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) |
unix_guru | 2:55bf0f813bb4 | 79 | |
unix_guru | 3:316f974b7f98 | 80 | bool Compute(); // * performs the PID calculation. it should be |
unix_guru | 3:316f974b7f98 | 81 | // called every time loop() cycles. ON/OFF and |
unix_guru | 3:316f974b7f98 | 82 | // calculation frequency can be set using SetMode |
unix_guru | 3:316f974b7f98 | 83 | // SetSampleTime respectively |
unix_guru | 3:316f974b7f98 | 84 | |
unix_guru | 3:316f974b7f98 | 85 | void SetOutputLimits(float, float); //clamps the output to a specific range. 0-1.0 by default, but |
unix_guru | 3:316f974b7f98 | 86 | //it's likely the user will want to change this depending on |
unix_guru | 3:316f974b7f98 | 87 | //the application |
unix_guru | 2:55bf0f813bb4 | 88 | |
arnaudsuire | 0:d58c1b8d63d9 | 89 | |
unix_guru | 2:55bf0f813bb4 | 90 | |
unix_guru | 3:316f974b7f98 | 91 | //available but not commonly used functions ******************************************************** |
unix_guru | 3:316f974b7f98 | 92 | void SetTunings(float, float, // * While most users will set the tunings once in the |
unix_guru | 3:316f974b7f98 | 93 | float); // constructor, this function gives the user the option |
unix_guru | 3:316f974b7f98 | 94 | // of changing tunings during runtime for Adaptive control |
unix_guru | 3:316f974b7f98 | 95 | void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT |
unix_guru | 3:316f974b7f98 | 96 | // means the output will increase when error is positive. REVERSE |
unix_guru | 3:316f974b7f98 | 97 | // means the opposite. it's very unlikely that this will be needed |
unix_guru | 3:316f974b7f98 | 98 | // once it is set in the constructor. |
unix_guru | 3:316f974b7f98 | 99 | void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which |
unix_guru | 3:316f974b7f98 | 100 | // the PID calculation is performed. default is 100 |
unix_guru | 3:316f974b7f98 | 101 | |
unix_guru | 3:316f974b7f98 | 102 | |
unix_guru | 3:316f974b7f98 | 103 | |
unix_guru | 3:316f974b7f98 | 104 | //Display functions **************************************************************** |
unix_guru | 3:316f974b7f98 | 105 | float GetKp(); // These functions query the pid for interal values. |
unix_guru | 3:316f974b7f98 | 106 | float GetKi(); // they were created mainly for the pid front-end, |
unix_guru | 3:316f974b7f98 | 107 | float GetKd(); // where it's important to know what is actually |
unix_guru | 3:316f974b7f98 | 108 | int GetMode(); // inside the PID. |
unix_guru | 3:316f974b7f98 | 109 | int GetDirection(); // |
unix_guru | 2:55bf0f813bb4 | 110 | |
unix_guru | 3:316f974b7f98 | 111 | private: |
unix_guru | 3:316f974b7f98 | 112 | void Initialize(); |
unix_guru | 3:316f974b7f98 | 113 | |
unix_guru | 3:316f974b7f98 | 114 | float dispKp; // * we'll hold on to the tuning parameters in user-entered |
unix_guru | 3:316f974b7f98 | 115 | float dispKi; // format for display purposes |
unix_guru | 3:316f974b7f98 | 116 | float dispKd; // |
unix_guru | 3:316f974b7f98 | 117 | |
unix_guru | 3:316f974b7f98 | 118 | float kp; // * (P)roportional Tuning Parameter |
unix_guru | 3:316f974b7f98 | 119 | float ki; // * (I)ntegral Tuning Parameter |
unix_guru | 3:316f974b7f98 | 120 | float kd; // * (D)erivative Tuning Parameter |
unix_guru | 2:55bf0f813bb4 | 121 | |
unix_guru | 3:316f974b7f98 | 122 | int controllerDirection; |
unix_guru | 3:316f974b7f98 | 123 | |
unix_guru | 3:316f974b7f98 | 124 | float *myInput; // * Pointers to the Input, Output, and Setpoint variables |
unix_guru | 3:316f974b7f98 | 125 | float *myOutput; // This creates a hard link between the variables and the |
unix_guru | 3:316f974b7f98 | 126 | float *mySetpoint; // PID, freeing the user from having to constantly tell us |
unix_guru | 3:316f974b7f98 | 127 | // what these values are. with pointers we'll just know. |
unix_guru | 3:316f974b7f98 | 128 | |
unix_guru | 3:316f974b7f98 | 129 | unsigned long lastTime; |
unix_guru | 3:316f974b7f98 | 130 | float ITerm, lastInput; |
unix_guru | 3:316f974b7f98 | 131 | |
unix_guru | 3:316f974b7f98 | 132 | unsigned long SampleTime; |
unix_guru | 3:316f974b7f98 | 133 | float outMin, outMax; |
unix_guru | 3:316f974b7f98 | 134 | bool inAuto; |
unix_guru | 3:316f974b7f98 | 135 | }; |
unix_guru | 3:316f974b7f98 | 136 | #endif |
unix_guru | 3:316f974b7f98 | 137 |