James Batchelar / PidControllerV3

Simple PID Controller with Integral Windup Supports creating a diagnostics message to send to a GUI Prints to Binary

Dependents:   ApexPID

Fork of PidControllerV2 by James Batchelar

PidController.h@6:99403113343f, 2018-05-07 (annotated)

Committer:
batchee7
Date:
Mon May 07 05:15:19 2018 +0000
Revision:
6:99403113343f
Parent:
5:1206105e20bd 
InitialRelease

Who changed what in which revision?

UserRevisionLine numberNew contents of line
batchee7 2:dd64c2cf9066 1 /**
batchee7 2:dd64c2cf9066 2 * @author James Batchelar
batchee7 2:dd64c2cf9066 3 *
batchee7 2:dd64c2cf9066 4 * @section LICENSE
batchee7 2:dd64c2cf9066 5 *
batchee7 2:dd64c2cf9066 6 *
batchee7 2:dd64c2cf9066 7 * Permission is hereby granted, free of charge, to any person obtaining a copy
batchee7 2:dd64c2cf9066 8 * of this software and associated documentation files (the "Software"), to deal
batchee7 2:dd64c2cf9066 9 * in the Software without restriction, including without limitation the rights
batchee7 2:dd64c2cf9066 10 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
batchee7 2:dd64c2cf9066 11 * copies of the Software, and to permit persons to whom the Software is
batchee7 2:dd64c2cf9066 12 * furnished to do so, subject to the following conditions:
batchee7 2:dd64c2cf9066 13 *
batchee7 2:dd64c2cf9066 14 * The above copyright notice and this permission notice shall be included in
batchee7 2:dd64c2cf9066 15 * all copies or substantial portions of the Software.
batchee7 2:dd64c2cf9066 16 *
batchee7 2:dd64c2cf9066 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
batchee7 2:dd64c2cf9066 18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
batchee7 2:dd64c2cf9066 19 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
batchee7 2:dd64c2cf9066 20 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
batchee7 2:dd64c2cf9066 21 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
batchee7 2:dd64c2cf9066 22 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
batchee7 2:dd64c2cf9066 23 * THE SOFTWARE.
batchee7 2:dd64c2cf9066 24 *
batchee7 2:dd64c2cf9066 25 * @section DESCRIPTION
batchee7 2:dd64c2cf9066 26 *
batchee7 2:dd64c2cf9066 27 * PID Controller with Integral Clamping
batchee7 2:dd64c2cf9066 28 *
batchee7 2:dd64c2cf9066 29 *
batchee7 2:dd64c2cf9066 30 *
batchee7 2:dd64c2cf9066 31 */
batchee7 2:dd64c2cf9066 32
batchee7 2:dd64c2cf9066 33 #ifndef PidController_H
batchee7 2:dd64c2cf9066 34 #define PidController_H
batchee7 4:b590bd8fec6f 35 #include "mbed.h"
batchee7 2:dd64c2cf9066 36
batchee7 2:dd64c2cf9066 37 //-- Constants used in system
batchee7 6:99403113343f 38 const int RATE = 100; //--(ms) Time that Calculate mehtod is being called
batchee7 2:dd64c2cf9066 39 const int AUTOMATIC = 0; //-- In automatic then PID Controls Output
batchee7 2:dd64c2cf9066 40 const int MANUAL = 1; //-- In Manual then User Controls Output directly
batchee7 2:dd64c2cf9066 41
batchee7 2:dd64c2cf9066 42 //-- Constructor
batchee7 2:dd64c2cf9066 43
batchee7 2:dd64c2cf9066 44 class PidController{
batchee7 2:dd64c2cf9066 45 public:
batchee7 2:dd64c2cf9066 46 // Public Methods
batchee7 2:dd64c2cf9066 47
batchee7 6:99403113343f 48 // Constructor
batchee7 6:99403113343f 49 PidController();
batchee7 2:dd64c2cf9066 50
batchee7 2:dd64c2cf9066 51 /** Performs the PID Calculation
batchee7 2:dd64c2cf9066 52 * @param SP - Setpoint (target value) units depends on what PID is controlling
batchee7 2:dd64c2cf9066 53 * @param PV - Process Variable (feedback/ measure value) units depends on what PID is controlling
batchee7 6:99403113343f 54 * @return Returns If Controller is in Automatic then returns PID controlled signal. In manual returns the user SP.
batchee7 2:dd64c2cf9066 55 */
batchee7 6:99403113343f 56 float Calculate(float SP, float PV);
batchee7 2:dd64c2cf9066 57
batchee7 4:b590bd8fec6f 58 /** Update Internal Settings
batchee7 2:dd64c2cf9066 59 * @param Bias - Added to the PID Calculation
batchee7 2:dd64c2cf9066 60 * @param PropGain - Proportional Gain
batchee7 2:dd64c2cf9066 61 * @param IntGain - Integral Gain
batchee7 2:dd64c2cf9066 62 * @param DiffGain - Differential Gain
batchee7 2:dd64c2cf9066 63 * @param OutputMin - Minimum Limit for the Output (units are same as setpoint)
batchee7 2:dd64c2cf9066 64 * @param OutputMax - Maximum Limit for the Output (units are same as setpoint)
batchee7 2:dd64c2cf9066 65 * @param OutputScale - Multiplier at End of PID loop to convert from engineering units to signal (eg PWM duty cycle)
batchee7 2:dd64c2cf9066 66 */
batchee7 5:1206105e20bd 67 void UpdateSettings(float Bias, float PropGain, float IntGain, float DiffGain, float OutputMin, float OutputMax);
batchee7 2:dd64c2cf9066 68
batchee7 4:b590bd8fec6f 69 /** Update Internal Settings
batchee7 4:b590bd8fec6f 70 * @param OutputMin - Minimum Limit for the Output (units are same as setpoint)
batchee7 4:b590bd8fec6f 71 * @param OutputMax - Maximum Limit for the Output (units are same as setpoint)
batchee7 4:b590bd8fec6f 72 */
batchee7 4:b590bd8fec6f 73 void UpdateSettings(float OutputMin, float OutputMax);
batchee7 4:b590bd8fec6f 74
batchee7 2:dd64c2cf9066 75 /** Get the controller mode
batchee7 2:dd64c2cf9066 76 * @return 1 = AUTOMATIC, 0 = MANUAL(User has direct contol on output).
batchee7 2:dd64c2cf9066 77 */
batchee7 2:dd64c2cf9066 78 int GetMode(void){return (int)mode;}
batchee7 2:dd64c2cf9066 79
batchee7 2:dd64c2cf9066 80 /** Set the controller in Manual Mode (PID turned off SP is writted directly to output)
batchee7 2:dd64c2cf9066 81 */
batchee7 2:dd64c2cf9066 82 void SetManual(void){mode = MANUAL;}
batchee7 2:dd64c2cf9066 83
batchee7 2:dd64c2cf9066 84 /** Set the controller in Automatic Mode (PID turned on)
batchee7 2:dd64c2cf9066 85 */
batchee7 2:dd64c2cf9066 86 void SetAutomatic(void){mode = AUTOMATIC;}
batchee7 2:dd64c2cf9066 87
batchee7 2:dd64c2cf9066 88 /** Enable Diagnostics for HMI
batchee7 2:dd64c2cf9066 89 */
batchee7 2:dd64c2cf9066 90 void StartDiag(void);
batchee7 2:dd64c2cf9066 91
batchee7 2:dd64c2cf9066 92 /** Disable Diagnostics for HMI
batchee7 2:dd64c2cf9066 93 */
batchee7 3:c169d08a9d0b 94 void EndDiag(void);
batchee7 2:dd64c2cf9066 95
batchee7 2:dd64c2cf9066 96 /** Check to see if the controller is collecting diagnostics data
batchee7 2:dd64c2cf9066 97 * @return true then a diagnostics message is been created.
batchee7 2:dd64c2cf9066 98 */
batchee7 2:dd64c2cf9066 99 bool DiagnosticsEnabled(void){return collectDiagnostics;}
batchee7 2:dd64c2cf9066 100
batchee7 6:99403113343f 101 /** Check to see if the controller is collecting diagnostics data
batchee7 6:99403113343f 102 * @param Data - Starting address of target recieve buffer (must be at least 25char long)
batchee7 6:99403113343f 103 */
batchee7 6:99403113343f 104 void GetDiagnosticsMessage(char *data);
batchee7 2:dd64c2cf9066 105
batchee7 2:dd64c2cf9066 106 private:
batchee7 2:dd64c2cf9066 107 bool mode;
batchee7 2:dd64c2cf9066 108 //-- For Diagnostics to GUI
batchee7 2:dd64c2cf9066 109 bool collectDiagnostics;
batchee7 6:99403113343f 110 uint16_t elapsedTime;
batchee7 6:99403113343f 111 char diagMsg[28];
batchee7 6:99403113343f 112
batchee7 6:99403113343f 113 //-- Settings
batchee7 6:99403113343f 114 float bias;
batchee7 6:99403113343f 115 float minLimit, maxLimit;
batchee7 6:99403113343f 116 float K_p,K_i,K_d;
batchee7 2:dd64c2cf9066 117
batchee7 2:dd64c2cf9066 118 //-- For PID Calculations
batchee7 2:dd64c2cf9066 119 float error;
batchee7 2:dd64c2cf9066 120 float accumError;
batchee7 5:1206105e20bd 121 float prevError;
batchee7 6:99403113343f 122
batchee7 6:99403113343f 123 //-- Private Helper functions
batchee7 6:99403113343f 124 void float_to_byte(char *data, float *val);
batchee7 6:99403113343f 125 void int_to_byte(char *data, uint16_t val);
batchee7 6:99403113343f 126 };
batchee7 2:dd64c2cf9066 127
batchee7 2:dd64c2cf9066 128 #endif
batchee7 2:dd64c2cf9066 129
batchee7 2:dd64c2cf9066 130
batchee7 2:dd64c2cf9066 131
batchee7 2:dd64c2cf9066 132
batchee7 2:dd64c2cf9066 133
batchee7 2:dd64c2cf9066 134