Hang Liu / PID

Fork of PID by Kamil Foryszewski

PID.h@1:0ffb635770b3, 2016-11-03 (annotated)

Committer:
kfforex
Date:
Thu Nov 03 17:15:10 2016 +0000
Revision:
1:0ffb635770b3
Parent:
0:6e12a3e5af19
Child:
2:0fff4827f3b6
before publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aberk 0:6e12a3e5af19 1
aberk 0:6e12a3e5af19 2 #ifndef PID_H
aberk 0:6e12a3e5af19 3 #define PID_H
aberk 0:6e12a3e5af19 4
aberk 0:6e12a3e5af19 5 /**
aberk 0:6e12a3e5af19 6 * Includes
aberk 0:6e12a3e5af19 7 */
aberk 0:6e12a3e5af19 8 #include "mbed.h"
aberk 0:6e12a3e5af19 9
aberk 0:6e12a3e5af19 10 /**
aberk 0:6e12a3e5af19 11 * Defines
aberk 0:6e12a3e5af19 12 */
aberk 0:6e12a3e5af19 13 #define MANUAL_MODE 0
aberk 0:6e12a3e5af19 14 #define AUTO_MODE 1
aberk 0:6e12a3e5af19 15
aberk 0:6e12a3e5af19 16 /**
aberk 0:6e12a3e5af19 17 * Proportional-integral-derivative controller.
aberk 0:6e12a3e5af19 18 */
aberk 0:6e12a3e5af19 19 class PID {
aberk 0:6e12a3e5af19 20
aberk 0:6e12a3e5af19 21 public:
aberk 0:6e12a3e5af19 22
aberk 0:6e12a3e5af19 23 /**
aberk 0:6e12a3e5af19 24 * Constructor.
aberk 0:6e12a3e5af19 25 *
kfforex 1:0ffb635770b3 26 * Sets default limits , calculates tuning parameters, and sets
aberk 0:6e12a3e5af19 27 * manual mode with no bias.
aberk 0:6e12a3e5af19 28 *
aberk 0:6e12a3e5af19 29 * @param Kc - Tuning parameter
aberk 0:6e12a3e5af19 30 * @param tauI - Tuning parameter
aberk 0:6e12a3e5af19 31 * @param tauD - Tuning parameter
aberk 0:6e12a3e5af19 32 * @param interval PID calculation performed every interval seconds.
aberk 0:6e12a3e5af19 33 */
aberk 0:6e12a3e5af19 34 PID(float Kc, float tauI, float tauD, float interval);
aberk 0:6e12a3e5af19 35
aberk 0:6e12a3e5af19 36 /**
aberk 0:6e12a3e5af19 37 * Scale from inputs to 0-100%.
aberk 0:6e12a3e5af19 38 *
aberk 0:6e12a3e5af19 39 * @param InMin The real world value corresponding to 0%.
aberk 0:6e12a3e5af19 40 * @param InMax The real world value corresponding to 100%.
aberk 0:6e12a3e5af19 41 */
aberk 0:6e12a3e5af19 42 void setInputLimits(float inMin , float inMax);
aberk 0:6e12a3e5af19 43
aberk 0:6e12a3e5af19 44 /**
aberk 0:6e12a3e5af19 45 * Scale from outputs to 0-100%.
aberk 0:6e12a3e5af19 46 *
aberk 0:6e12a3e5af19 47 * @param outMin The real world value corresponding to 0%.
aberk 0:6e12a3e5af19 48 * @param outMax The real world value corresponding to 100%.
aberk 0:6e12a3e5af19 49 */
aberk 0:6e12a3e5af19 50 void setOutputLimits(float outMin, float outMax);
aberk 0:6e12a3e5af19 51
aberk 0:6e12a3e5af19 52 /**
aberk 0:6e12a3e5af19 53 * Calculate PID constants.
aberk 0:6e12a3e5af19 54 *
aberk 0:6e12a3e5af19 55 * Allows parameters to be changed on the fly without ruining calculations.
aberk 0:6e12a3e5af19 56 *
aberk 0:6e12a3e5af19 57 * @param Kc - Tuning parameter
aberk 0:6e12a3e5af19 58 * @param tauI - Tuning parameter
aberk 0:6e12a3e5af19 59 * @param tauD - Tuning parameter
aberk 0:6e12a3e5af19 60 */
aberk 0:6e12a3e5af19 61 void setTunings(float Kc, float tauI, float tauD);
aberk 0:6e12a3e5af19 62
aberk 0:6e12a3e5af19 63 /**
aberk 0:6e12a3e5af19 64 * Reinitializes controller internals. Automatically
aberk 0:6e12a3e5af19 65 * called on a manual to auto transition.
aberk 0:6e12a3e5af19 66 */
aberk 0:6e12a3e5af19 67 void reset(void);
aberk 0:6e12a3e5af19 68
aberk 0:6e12a3e5af19 69 /**
aberk 0:6e12a3e5af19 70 * Set PID to manual or auto mode.
aberk 0:6e12a3e5af19 71 *
aberk 0:6e12a3e5af19 72 * @param mode 0 -> Manual
aberk 0:6e12a3e5af19 73 * Non-zero -> Auto
aberk 0:6e12a3e5af19 74 */
aberk 0:6e12a3e5af19 75 void setMode(int mode);
aberk 0:6e12a3e5af19 76
aberk 0:6e12a3e5af19 77 /**
aberk 0:6e12a3e5af19 78 * Set how fast the PID loop is run.
aberk 0:6e12a3e5af19 79 *
aberk 0:6e12a3e5af19 80 * @param interval PID calculation peformed every interval seconds.
aberk 0:6e12a3e5af19 81 */
aberk 0:6e12a3e5af19 82 void setInterval(float interval);
aberk 0:6e12a3e5af19 83
aberk 0:6e12a3e5af19 84 /**
aberk 0:6e12a3e5af19 85 * Set the set point.
aberk 0:6e12a3e5af19 86 *
aberk 0:6e12a3e5af19 87 * @param sp The set point as a real world value.
aberk 0:6e12a3e5af19 88 */
aberk 0:6e12a3e5af19 89 void setSetPoint(float sp);
aberk 0:6e12a3e5af19 90
aberk 0:6e12a3e5af19 91 /**
aberk 0:6e12a3e5af19 92 * Set the process value.
aberk 0:6e12a3e5af19 93 *
aberk 0:6e12a3e5af19 94 * @param pv The process value as a real world value.
aberk 0:6e12a3e5af19 95 */
aberk 0:6e12a3e5af19 96 void setProcessValue(float pv);
aberk 0:6e12a3e5af19 97
aberk 0:6e12a3e5af19 98 /**
aberk 0:6e12a3e5af19 99 * Set the bias.
aberk 0:6e12a3e5af19 100 *
aberk 0:6e12a3e5af19 101 * @param bias The bias for the controller output.
aberk 0:6e12a3e5af19 102 */
aberk 0:6e12a3e5af19 103 void setBias(float bias);
aberk 0:6e12a3e5af19 104
aberk 0:6e12a3e5af19 105 /**
aberk 0:6e12a3e5af19 106 * PID calculation.
aberk 0:6e12a3e5af19 107 *
aberk 0:6e12a3e5af19 108 * @return The controller output as a float between outMin and outMax.
aberk 0:6e12a3e5af19 109 */
aberk 0:6e12a3e5af19 110 float compute(void);
aberk 0:6e12a3e5af19 111
aberk 0:6e12a3e5af19 112 //Getters.
aberk 0:6e12a3e5af19 113 float getInMin();
aberk 0:6e12a3e5af19 114 float getInMax();
aberk 0:6e12a3e5af19 115 float getOutMin();
aberk 0:6e12a3e5af19 116 float getOutMax();
aberk 0:6e12a3e5af19 117 float getInterval();
aberk 0:6e12a3e5af19 118 float getPParam();
aberk 0:6e12a3e5af19 119 float getIParam();
aberk 0:6e12a3e5af19 120 float getDParam();
aberk 0:6e12a3e5af19 121
aberk 0:6e12a3e5af19 122 private:
aberk 0:6e12a3e5af19 123
aberk 0:6e12a3e5af19 124 bool usingFeedForward;
aberk 0:6e12a3e5af19 125 bool inAuto;
aberk 0:6e12a3e5af19 126
aberk 0:6e12a3e5af19 127 //Actual tuning parameters used in PID calculation.
aberk 0:6e12a3e5af19 128 float Kc_;
aberk 0:6e12a3e5af19 129 float tauR_;
aberk 0:6e12a3e5af19 130 float tauD_;
aberk 0:6e12a3e5af19 131
aberk 0:6e12a3e5af19 132 //Raw tuning parameters.
aberk 0:6e12a3e5af19 133 float pParam_;
aberk 0:6e12a3e5af19 134 float iParam_;
aberk 0:6e12a3e5af19 135 float dParam_;
aberk 0:6e12a3e5af19 136
aberk 0:6e12a3e5af19 137 //The point we want to reach.
aberk 0:6e12a3e5af19 138 float setPoint_;
aberk 0:6e12a3e5af19 139 //The thing we measure.
aberk 0:6e12a3e5af19 140 float processVariable_;
aberk 0:6e12a3e5af19 141 float prevProcessVariable_;
aberk 0:6e12a3e5af19 142 //The output that affects the process variable.
aberk 0:6e12a3e5af19 143 float controllerOutput_;
aberk 0:6e12a3e5af19 144 float prevControllerOutput_;
aberk 0:6e12a3e5af19 145
aberk 0:6e12a3e5af19 146 //We work in % for calculations so these will scale from
aberk 0:6e12a3e5af19 147 //real world values to 0-100% and back again.
aberk 0:6e12a3e5af19 148 float inMin_;
aberk 0:6e12a3e5af19 149 float inMax_;
aberk 0:6e12a3e5af19 150 float inSpan_;
aberk 0:6e12a3e5af19 151 float outMin_;
aberk 0:6e12a3e5af19 152 float outMax_;
aberk 0:6e12a3e5af19 153 float outSpan_;
aberk 0:6e12a3e5af19 154
aberk 0:6e12a3e5af19 155 //The accumulated error, i.e. integral.
aberk 0:6e12a3e5af19 156 float accError_;
aberk 0:6e12a3e5af19 157 //The controller output bias.
aberk 0:6e12a3e5af19 158 float bias_;
aberk 0:6e12a3e5af19 159
aberk 0:6e12a3e5af19 160 //The interval between samples.
aberk 0:6e12a3e5af19 161 float tSample_;
aberk 0:6e12a3e5af19 162
aberk 0:6e12a3e5af19 163 //Controller output as a real world value.
aberk 0:6e12a3e5af19 164 volatile float realOutput_;
aberk 0:6e12a3e5af19 165
aberk 0:6e12a3e5af19 166 };
aberk 0:6e12a3e5af19 167
aberk 0:6e12a3e5af19 168 #endif /* PID_H */