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@4:b590bd8fec6f, 2017-10-04 (annotated)

Committer:
batchee7
Date:
Wed Oct 04 01:13:49 2017 +0000
Revision:
4:b590bd8fec6f
Parent:
3:c169d08a9d0b
Child:
5:1206105e20bd
Working upload before planning to make more generic

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 * @code
batchee7 2:dd64c2cf9066 33 #include "mbed.h"
batchee7 2:dd64c2cf9066 34 #include "PID.h"
batchee7 2:dd64c2cf9066 35
batchee7 2:dd64c2cf9066 36 * @endcode
batchee7 2:dd64c2cf9066 37 */
batchee7 2:dd64c2cf9066 38
batchee7 4:b590bd8fec6f 39
batchee7 2:dd64c2cf9066 40
batchee7 2:dd64c2cf9066 41 #ifndef PidController_H
batchee7 2:dd64c2cf9066 42 #define PidController_H
batchee7 4:b590bd8fec6f 43 #include "mbed.h"
batchee7 4:b590bd8fec6f 44 #include "math.h"
batchee7 2:dd64c2cf9066 45
batchee7 2:dd64c2cf9066 46 //-- Constants used in system
batchee7 2:dd64c2cf9066 47 const int RATE = 100; //--(ms) Time that Calculate mehtod is being called
batchee7 2:dd64c2cf9066 48 const int AUTOMATIC = 0; //-- In automatic then PID Controls Output
batchee7 2:dd64c2cf9066 49 const int MANUAL = 1; //-- In Manual then User Controls Output directly
batchee7 2:dd64c2cf9066 50
batchee7 2:dd64c2cf9066 51 //-- Constructor
batchee7 2:dd64c2cf9066 52
batchee7 2:dd64c2cf9066 53 class PidController{
batchee7 2:dd64c2cf9066 54 public:
batchee7 2:dd64c2cf9066 55 // Public Methods
batchee7 2:dd64c2cf9066 56
batchee7 2:dd64c2cf9066 57 /** Constructor
batchee7 2:dd64c2cf9066 58 *
batchee7 2:dd64c2cf9066 59 */
batchee7 4:b590bd8fec6f 60 PidController(bool);
batchee7 2:dd64c2cf9066 61
batchee7 2:dd64c2cf9066 62 /** Performs the PID Calculation
batchee7 2:dd64c2cf9066 63 * @param SP - Setpoint (target value) units depends on what PID is controlling
batchee7 2:dd64c2cf9066 64 * @param PV - Process Variable (feedback/ measure value) units depends on what PID is controlling
batchee7 2:dd64c2cf9066 65 * @return Returns If Controller is in Automatic then returns PID controlled signal. In manual returns the user SP multipled by scalar.
batchee7 2:dd64c2cf9066 66 */
batchee7 4:b590bd8fec6f 67 int Calculate(float SP, float PV, float ManualMV);
batchee7 2:dd64c2cf9066 68
batchee7 4:b590bd8fec6f 69 /** Update Internal Settings
batchee7 2:dd64c2cf9066 70 * @param Bias - Added to the PID Calculation
batchee7 2:dd64c2cf9066 71 * @param PropGain - Proportional Gain
batchee7 2:dd64c2cf9066 72 * @param IntGain - Integral Gain
batchee7 2:dd64c2cf9066 73 * @param DiffGain - Differential Gain
batchee7 2:dd64c2cf9066 74 * @param OutputMin - Minimum Limit for the Output (units are same as setpoint)
batchee7 2:dd64c2cf9066 75 * @param OutputMax - Maximum Limit for the Output (units are same as setpoint)
batchee7 2:dd64c2cf9066 76 * @param OutputScale - Multiplier at End of PID loop to convert from engineering units to signal (eg PWM duty cycle)
batchee7 2:dd64c2cf9066 77 */
batchee7 2:dd64c2cf9066 78 void UpdateSettings(float Bias, float PropGain, float IntGain, float DiffGain, float OutputMin, float OutputMax, float OutputScale);
batchee7 2:dd64c2cf9066 79
batchee7 4:b590bd8fec6f 80 /** Update Internal Settings
batchee7 4:b590bd8fec6f 81 * @param OutputMin - Minimum Limit for the Output (units are same as setpoint)
batchee7 4:b590bd8fec6f 82 * @param OutputMax - Maximum Limit for the Output (units are same as setpoint)
batchee7 4:b590bd8fec6f 83 */
batchee7 4:b590bd8fec6f 84 void UpdateSettings(float OutputMin, float OutputMax);
batchee7 4:b590bd8fec6f 85
batchee7 2:dd64c2cf9066 86 /** Get the controller mode
batchee7 2:dd64c2cf9066 87 * @return 1 = AUTOMATIC, 0 = MANUAL(User has direct contol on output).
batchee7 2:dd64c2cf9066 88 */
batchee7 2:dd64c2cf9066 89 int GetMode(void){return (int)mode;}
batchee7 2:dd64c2cf9066 90
batchee7 2:dd64c2cf9066 91 /** Set the controller in Manual Mode (PID turned off SP is writted directly to output)
batchee7 2:dd64c2cf9066 92 */
batchee7 2:dd64c2cf9066 93 void SetManual(void){mode = MANUAL;}
batchee7 2:dd64c2cf9066 94
batchee7 2:dd64c2cf9066 95 /** Set the controller in Automatic Mode (PID turned on)
batchee7 2:dd64c2cf9066 96 */
batchee7 2:dd64c2cf9066 97 void SetAutomatic(void){mode = AUTOMATIC;}
batchee7 2:dd64c2cf9066 98
batchee7 2:dd64c2cf9066 99 /** Enable Diagnostics for HMI
batchee7 2:dd64c2cf9066 100 */
batchee7 2:dd64c2cf9066 101 void StartDiag(void);
batchee7 2:dd64c2cf9066 102
batchee7 2:dd64c2cf9066 103 /** Disable Diagnostics for HMI
batchee7 2:dd64c2cf9066 104 */
batchee7 3:c169d08a9d0b 105 void EndDiag(void);
batchee7 2:dd64c2cf9066 106
batchee7 2:dd64c2cf9066 107 /** Build a string to send back to HMI to Graph PID
batchee7 2:dd64c2cf9066 108 */
batchee7 2:dd64c2cf9066 109 void BuildDiagMessage(float SP, float PV, float PWM, float PropAction, float IntAction, float DifAction);
batchee7 2:dd64c2cf9066 110
batchee7 2:dd64c2cf9066 111 /** Check to see if the controller is collecting diagnostics data
batchee7 2:dd64c2cf9066 112 * @return true then a diagnostics message is been created.
batchee7 2:dd64c2cf9066 113 */
batchee7 2:dd64c2cf9066 114 bool DiagnosticsEnabled(void){return collectDiagnostics;}
batchee7 2:dd64c2cf9066 115
batchee7 2:dd64c2cf9066 116 int GetElapsedtime(void){return elapsedTime;}
batchee7 2:dd64c2cf9066 117
batchee7 2:dd64c2cf9066 118 // Made Public as im lazy
batchee7 2:dd64c2cf9066 119 char diagMsg[65];
batchee7 2:dd64c2cf9066 120
batchee7 2:dd64c2cf9066 121 private:
batchee7 2:dd64c2cf9066 122 bool mode;
batchee7 2:dd64c2cf9066 123
batchee7 2:dd64c2cf9066 124 //-- For Diagnostics to GUI
batchee7 2:dd64c2cf9066 125 bool collectDiagnostics;
batchee7 2:dd64c2cf9066 126 int elapsedTime;
batchee7 2:dd64c2cf9066 127
batchee7 2:dd64c2cf9066 128 //-- For PID Calculations
batchee7 4:b590bd8fec6f 129 bool squareRootOuptut;
batchee7 2:dd64c2cf9066 130 float bias, scalar;
batchee7 2:dd64c2cf9066 131 float error;
batchee7 4:b590bd8fec6f 132 float lastInput;
batchee7 2:dd64c2cf9066 133 float accumError;
batchee7 2:dd64c2cf9066 134 float minLimit, maxLimit;
batchee7 2:dd64c2cf9066 135 float K_p,K_i,K_d;
batchee7 2:dd64c2cf9066 136 };
batchee7 2:dd64c2cf9066 137
batchee7 2:dd64c2cf9066 138 #endif
batchee7 2:dd64c2cf9066 139
batchee7 2:dd64c2cf9066 140
batchee7 2:dd64c2cf9066 141
batchee7 2:dd64c2cf9066 142
batchee7 2:dd64c2cf9066 143
batchee7 2:dd64c2cf9066 144