Kenji Arai / PID

change float to double

Fork of PID by Aaron Berk

PID.h@1:ca4077d72c94, 2016-11-23 (annotated)

Committer:
kenjiArai
Date:
Wed Nov 23 07:13:07 2016 +0000
Revision:
1:ca4077d72c94
Parent:
0:6e12a3e5af19 
Change float to double

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aberk 0:6e12a3e5af19 1 /**
aberk 0:6e12a3e5af19 2 * @author Aaron Berk
aberk 0:6e12a3e5af19 3 *
aberk 0:6e12a3e5af19 4 * @section LICENSE
aberk 0:6e12a3e5af19 5 *
aberk 0:6e12a3e5af19 6 * Copyright (c) 2010 ARM Limited
aberk 0:6e12a3e5af19 7 *
aberk 0:6e12a3e5af19 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
aberk 0:6e12a3e5af19 9 * of this software and associated documentation files (the "Software"), to deal
aberk 0:6e12a3e5af19 10 * in the Software without restriction, including without limitation the rights
aberk 0:6e12a3e5af19 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
aberk 0:6e12a3e5af19 12 * copies of the Software, and to permit persons to whom the Software is
aberk 0:6e12a3e5af19 13 * furnished to do so, subject to the following conditions:
aberk 0:6e12a3e5af19 14 *
aberk 0:6e12a3e5af19 15 * The above copyright notice and this permission notice shall be included in
aberk 0:6e12a3e5af19 16 * all copies or substantial portions of the Software.
aberk 0:6e12a3e5af19 17 *
aberk 0:6e12a3e5af19 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
aberk 0:6e12a3e5af19 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
aberk 0:6e12a3e5af19 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
aberk 0:6e12a3e5af19 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
aberk 0:6e12a3e5af19 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
aberk 0:6e12a3e5af19 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
aberk 0:6e12a3e5af19 24 * THE SOFTWARE.
aberk 0:6e12a3e5af19 25 *
aberk 0:6e12a3e5af19 26 * @section DESCRIPTION
aberk 0:6e12a3e5af19 27 *
aberk 0:6e12a3e5af19 28 * A PID controller is a widely used feedback controller commonly found in
aberk 0:6e12a3e5af19 29 * industry.
aberk 0:6e12a3e5af19 30 *
aberk 0:6e12a3e5af19 31 * This library is a port of Brett Beauregard's Arduino PID library:
aberk 0:6e12a3e5af19 32 *
aberk 0:6e12a3e5af19 33 * http://www.arduino.cc/playground/Code/PIDLibrary
aberk 0:6e12a3e5af19 34 *
aberk 0:6e12a3e5af19 35 * The wikipedia article on PID controllers is a good place to start on
aberk 0:6e12a3e5af19 36 * understanding how they work:
aberk 0:6e12a3e5af19 37 *
aberk 0:6e12a3e5af19 38 * http://en.wikipedia.org/wiki/PID_controller
aberk 0:6e12a3e5af19 39 *
aberk 0:6e12a3e5af19 40 * For a clear and elegant explanation of how to implement and tune a
aberk 0:6e12a3e5af19 41 * controller, the controlguru website by Douglas J. Cooper (who also happened
aberk 0:6e12a3e5af19 42 * to be Brett's controls professor) is an excellent reference:
aberk 0:6e12a3e5af19 43 *
aberk 0:6e12a3e5af19 44 * http://www.controlguru.com/
aberk 0:6e12a3e5af19 45 */
aberk 0:6e12a3e5af19 46
kenjiArai 1:ca4077d72c94 47 // Modified by K.Arai/JH1PJL on June 15th, 2016
kenjiArai 1:ca4077d72c94 48
aberk 0:6e12a3e5af19 49 #ifndef PID_H
aberk 0:6e12a3e5af19 50 #define PID_H
aberk 0:6e12a3e5af19 51
aberk 0:6e12a3e5af19 52 /**
aberk 0:6e12a3e5af19 53 * Includes
aberk 0:6e12a3e5af19 54 */
aberk 0:6e12a3e5af19 55 #include "mbed.h"
aberk 0:6e12a3e5af19 56
aberk 0:6e12a3e5af19 57 /**
aberk 0:6e12a3e5af19 58 * Defines
aberk 0:6e12a3e5af19 59 */
aberk 0:6e12a3e5af19 60 #define MANUAL_MODE 0
aberk 0:6e12a3e5af19 61 #define AUTO_MODE 1
aberk 0:6e12a3e5af19 62
aberk 0:6e12a3e5af19 63 /**
aberk 0:6e12a3e5af19 64 * Proportional-integral-derivative controller.
aberk 0:6e12a3e5af19 65 */
aberk 0:6e12a3e5af19 66 class PID {
aberk 0:6e12a3e5af19 67
aberk 0:6e12a3e5af19 68 public:
aberk 0:6e12a3e5af19 69
aberk 0:6e12a3e5af19 70 /**
aberk 0:6e12a3e5af19 71 * Constructor.
aberk 0:6e12a3e5af19 72 *
aberk 0:6e12a3e5af19 73 * Sets default limits [0-3.3V], calculates tuning parameters, and sets
aberk 0:6e12a3e5af19 74 * manual mode with no bias.
aberk 0:6e12a3e5af19 75 *
aberk 0:6e12a3e5af19 76 * @param Kc - Tuning parameter
aberk 0:6e12a3e5af19 77 * @param tauI - Tuning parameter
aberk 0:6e12a3e5af19 78 * @param tauD - Tuning parameter
aberk 0:6e12a3e5af19 79 * @param interval PID calculation performed every interval seconds.
aberk 0:6e12a3e5af19 80 */
kenjiArai 1:ca4077d72c94 81 PID(double Kc, double tauI, double tauD, double interval);
aberk 0:6e12a3e5af19 82
aberk 0:6e12a3e5af19 83 /**
aberk 0:6e12a3e5af19 84 * Scale from inputs to 0-100%.
aberk 0:6e12a3e5af19 85 *
aberk 0:6e12a3e5af19 86 * @param InMin The real world value corresponding to 0%.
aberk 0:6e12a3e5af19 87 * @param InMax The real world value corresponding to 100%.
aberk 0:6e12a3e5af19 88 */
kenjiArai 1:ca4077d72c94 89 void setInputLimits(double inMin , double inMax);
aberk 0:6e12a3e5af19 90
aberk 0:6e12a3e5af19 91 /**
aberk 0:6e12a3e5af19 92 * Scale from outputs to 0-100%.
aberk 0:6e12a3e5af19 93 *
aberk 0:6e12a3e5af19 94 * @param outMin The real world value corresponding to 0%.
aberk 0:6e12a3e5af19 95 * @param outMax The real world value corresponding to 100%.
aberk 0:6e12a3e5af19 96 */
kenjiArai 1:ca4077d72c94 97 void setOutputLimits(double outMin, double outMax);
aberk 0:6e12a3e5af19 98
aberk 0:6e12a3e5af19 99 /**
aberk 0:6e12a3e5af19 100 * Calculate PID constants.
aberk 0:6e12a3e5af19 101 *
aberk 0:6e12a3e5af19 102 * Allows parameters to be changed on the fly without ruining calculations.
aberk 0:6e12a3e5af19 103 *
aberk 0:6e12a3e5af19 104 * @param Kc - Tuning parameter
aberk 0:6e12a3e5af19 105 * @param tauI - Tuning parameter
aberk 0:6e12a3e5af19 106 * @param tauD - Tuning parameter
aberk 0:6e12a3e5af19 107 */
kenjiArai 1:ca4077d72c94 108 void setTunings(double Kc, double tauI, double tauD);
aberk 0:6e12a3e5af19 109
aberk 0:6e12a3e5af19 110 /**
aberk 0:6e12a3e5af19 111 * Reinitializes controller internals. Automatically
aberk 0:6e12a3e5af19 112 * called on a manual to auto transition.
aberk 0:6e12a3e5af19 113 */
aberk 0:6e12a3e5af19 114 void reset(void);
aberk 0:6e12a3e5af19 115
aberk 0:6e12a3e5af19 116 /**
aberk 0:6e12a3e5af19 117 * Set PID to manual or auto mode.
aberk 0:6e12a3e5af19 118 *
aberk 0:6e12a3e5af19 119 * @param mode 0 -> Manual
aberk 0:6e12a3e5af19 120 * Non-zero -> Auto
aberk 0:6e12a3e5af19 121 */
aberk 0:6e12a3e5af19 122 void setMode(int mode);
aberk 0:6e12a3e5af19 123
aberk 0:6e12a3e5af19 124 /**
aberk 0:6e12a3e5af19 125 * Set how fast the PID loop is run.
aberk 0:6e12a3e5af19 126 *
aberk 0:6e12a3e5af19 127 * @param interval PID calculation peformed every interval seconds.
aberk 0:6e12a3e5af19 128 */
kenjiArai 1:ca4077d72c94 129 void setInterval(double interval);
aberk 0:6e12a3e5af19 130
aberk 0:6e12a3e5af19 131 /**
aberk 0:6e12a3e5af19 132 * Set the set point.
aberk 0:6e12a3e5af19 133 *
aberk 0:6e12a3e5af19 134 * @param sp The set point as a real world value.
aberk 0:6e12a3e5af19 135 */
kenjiArai 1:ca4077d72c94 136 void setSetPoint(double sp);
aberk 0:6e12a3e5af19 137
aberk 0:6e12a3e5af19 138 /**
aberk 0:6e12a3e5af19 139 * Set the process value.
aberk 0:6e12a3e5af19 140 *
aberk 0:6e12a3e5af19 141 * @param pv The process value as a real world value.
aberk 0:6e12a3e5af19 142 */
kenjiArai 1:ca4077d72c94 143 void setProcessValue(double pv);
aberk 0:6e12a3e5af19 144
aberk 0:6e12a3e5af19 145 /**
aberk 0:6e12a3e5af19 146 * Set the bias.
aberk 0:6e12a3e5af19 147 *
aberk 0:6e12a3e5af19 148 * @param bias The bias for the controller output.
aberk 0:6e12a3e5af19 149 */
kenjiArai 1:ca4077d72c94 150 void setBias(double bias);
aberk 0:6e12a3e5af19 151
aberk 0:6e12a3e5af19 152 /**
aberk 0:6e12a3e5af19 153 * PID calculation.
aberk 0:6e12a3e5af19 154 *
kenjiArai 1:ca4077d72c94 155 * @return The controller output as a double between outMin and outMax.
aberk 0:6e12a3e5af19 156 */
kenjiArai 1:ca4077d72c94 157 double compute(void);
aberk 0:6e12a3e5af19 158
aberk 0:6e12a3e5af19 159 //Getters.
kenjiArai 1:ca4077d72c94 160 double getInMin();
kenjiArai 1:ca4077d72c94 161 double getInMax();
kenjiArai 1:ca4077d72c94 162 double getOutMin();
kenjiArai 1:ca4077d72c94 163 double getOutMax();
kenjiArai 1:ca4077d72c94 164 double getInterval();
kenjiArai 1:ca4077d72c94 165 double getPParam();
kenjiArai 1:ca4077d72c94 166 double getIParam();
kenjiArai 1:ca4077d72c94 167 double getDParam();
aberk 0:6e12a3e5af19 168
aberk 0:6e12a3e5af19 169 private:
aberk 0:6e12a3e5af19 170
aberk 0:6e12a3e5af19 171 bool usingFeedForward;
aberk 0:6e12a3e5af19 172 bool inAuto;
aberk 0:6e12a3e5af19 173
aberk 0:6e12a3e5af19 174 //Actual tuning parameters used in PID calculation.
kenjiArai 1:ca4077d72c94 175 double Kc_;
kenjiArai 1:ca4077d72c94 176 double tauR_;
kenjiArai 1:ca4077d72c94 177 double tauD_;
aberk 0:6e12a3e5af19 178
aberk 0:6e12a3e5af19 179 //Raw tuning parameters.
kenjiArai 1:ca4077d72c94 180 double pParam_;
kenjiArai 1:ca4077d72c94 181 double iParam_;
kenjiArai 1:ca4077d72c94 182 double dParam_;
aberk 0:6e12a3e5af19 183
aberk 0:6e12a3e5af19 184 //The point we want to reach.
kenjiArai 1:ca4077d72c94 185 double setPoint_;
aberk 0:6e12a3e5af19 186 //The thing we measure.
kenjiArai 1:ca4077d72c94 187 double processVariable_;
kenjiArai 1:ca4077d72c94 188 double prevProcessVariable_;
aberk 0:6e12a3e5af19 189 //The output that affects the process variable.
kenjiArai 1:ca4077d72c94 190 double controllerOutput_;
kenjiArai 1:ca4077d72c94 191 double prevControllerOutput_;
aberk 0:6e12a3e5af19 192
aberk 0:6e12a3e5af19 193 //We work in % for calculations so these will scale from
aberk 0:6e12a3e5af19 194 //real world values to 0-100% and back again.
kenjiArai 1:ca4077d72c94 195 double inMin_;
kenjiArai 1:ca4077d72c94 196 double inMax_;
kenjiArai 1:ca4077d72c94 197 double inSpan_;
kenjiArai 1:ca4077d72c94 198 double outMin_;
kenjiArai 1:ca4077d72c94 199 double outMax_;
kenjiArai 1:ca4077d72c94 200 double outSpan_;
aberk 0:6e12a3e5af19 201
aberk 0:6e12a3e5af19 202 //The accumulated error, i.e. integral.
kenjiArai 1:ca4077d72c94 203 double accError_;
aberk 0:6e12a3e5af19 204 //The controller output bias.
kenjiArai 1:ca4077d72c94 205 double bias_;
aberk 0:6e12a3e5af19 206
aberk 0:6e12a3e5af19 207 //The interval between samples.
kenjiArai 1:ca4077d72c94 208 double tSample_;
aberk 0:6e12a3e5af19 209
aberk 0:6e12a3e5af19 210 //Controller output as a real world value.
kenjiArai 1:ca4077d72c94 211 volatile double realOutput_;
aberk 0:6e12a3e5af19 212
aberk 0:6e12a3e5af19 213 };
aberk 0:6e12a3e5af19 214
aberk 0:6e12a3e5af19 215 #endif /* PID_H */