Michael Ball / PID

This is a copy of the Reference Standard PID controller ala controlguru.com

Fork of PID by FRDM-K64F Code Share

PID.h@1:117e0c36eb22, 2016-01-25 (annotated)

Committer:
unix_guru
Date:
Mon Jan 25 22:29:38 2016 +0000
Revision:
1:117e0c36eb22
Parent:
0:d58c1b8d63d9
Child:
2:55bf0f813bb4
Old Standard PID library from ControlGuru.com

Who changed what in which revision?

UserRevisionLine numberNew contents of line
unix_guru 1:117e0c36eb22 1 //#pragma once
arnaudsuire 0:d58c1b8d63d9 2
arnaudsuire 0:d58c1b8d63d9 3 #ifndef PID_H
arnaudsuire 0:d58c1b8d63d9 4 #define PID_H
arnaudsuire 0:d58c1b8d63d9 5
unix_guru 1:117e0c36eb22 6 #define MANUAL_MODE 0
unix_guru 1:117e0c36eb22 7 #define AUTO_MODE 1
unix_guru 1:117e0c36eb22 8
arnaudsuire 0:d58c1b8d63d9 9 class PID
arnaudsuire 0:d58c1b8d63d9 10 {
arnaudsuire 0:d58c1b8d63d9 11 public:
arnaudsuire 0:d58c1b8d63d9 12
arnaudsuire 0:d58c1b8d63d9 13 /*
unix_guru 1:117e0c36eb22 14 * Constructor
arnaudsuire 0:d58c1b8d63d9 15 * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
arnaudsuire 0:d58c1b8d63d9 16 * @param Kc - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 17 * @param tauI - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 18 * @param tauD - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 19 * @param interval PID calculation performed every interval seconds.
arnaudsuire 0:d58c1b8d63d9 20 */
arnaudsuire 0:d58c1b8d63d9 21 PID(float Kc, float tauI, float tauD, float interval);
arnaudsuire 0:d58c1b8d63d9 22
arnaudsuire 0:d58c1b8d63d9 23 /*
arnaudsuire 0:d58c1b8d63d9 24 * Scale from inputs to 0-100%.
arnaudsuire 0:d58c1b8d63d9 25 * @param InMin The real world value corresponding to 0%.
arnaudsuire 0:d58c1b8d63d9 26 * @param InMax The real world value corresponding to 100%.
arnaudsuire 0:d58c1b8d63d9 27 */
arnaudsuire 0:d58c1b8d63d9 28 void setInputLimits(float inMin, float inMax);
arnaudsuire 0:d58c1b8d63d9 29
arnaudsuire 0:d58c1b8d63d9 30 /*
arnaudsuire 0:d58c1b8d63d9 31 * Scale from outputs to 0-100%.
arnaudsuire 0:d58c1b8d63d9 32 * @param outMin The real world value corresponding to 0%.
arnaudsuire 0:d58c1b8d63d9 33 * @param outMax The real world value corresponding to 100%.
arnaudsuire 0:d58c1b8d63d9 34 */
arnaudsuire 0:d58c1b8d63d9 35 void setOutputLimits(float outMin, float outMax);
arnaudsuire 0:d58c1b8d63d9 36
arnaudsuire 0:d58c1b8d63d9 37 /*
arnaudsuire 0:d58c1b8d63d9 38 * Calculate PID constants.
arnaudsuire 0:d58c1b8d63d9 39 * Allows parameters to be changed on the fly without ruining calculations.
arnaudsuire 0:d58c1b8d63d9 40 * @param Kc - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 41 * @param tauI - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 42 * @param tauD - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 43 */
arnaudsuire 0:d58c1b8d63d9 44 void setTunings(float Kc, float tauI, float tauD);
arnaudsuire 0:d58c1b8d63d9 45
arnaudsuire 0:d58c1b8d63d9 46 /*
arnaudsuire 0:d58c1b8d63d9 47 * Reinitializes controller internals. Automatically
arnaudsuire 0:d58c1b8d63d9 48 * called on a manual to auto transition.
arnaudsuire 0:d58c1b8d63d9 49 */
arnaudsuire 0:d58c1b8d63d9 50 void reset(void);
arnaudsuire 0:d58c1b8d63d9 51
arnaudsuire 0:d58c1b8d63d9 52 /*
arnaudsuire 0:d58c1b8d63d9 53 * Set how fast the PID loop is run.
arnaudsuire 0:d58c1b8d63d9 54 * @param interval PID calculation peformed every interval seconds.
arnaudsuire 0:d58c1b8d63d9 55 */
arnaudsuire 0:d58c1b8d63d9 56 void setInterval(float interval);
arnaudsuire 0:d58c1b8d63d9 57
arnaudsuire 0:d58c1b8d63d9 58 /*
unix_guru 1:117e0c36eb22 59 * Set the target value for the PID loop to maintain.
unix_guru 1:117e0c36eb22 60 * @param sp The target value to maintain.
unix_guru 1:117e0c36eb22 61 */
unix_guru 1:117e0c36eb22 62 void setSetPoint(float sp);
unix_guru 1:117e0c36eb22 63
unix_guru 1:117e0c36eb22 64 /*
unix_guru 1:117e0c36eb22 65 * Set the target value for the PID loop to maintain.
unix_guru 1:117e0c36eb22 66 * @param pv The target value to maintain.
unix_guru 1:117e0c36eb22 67 */
unix_guru 1:117e0c36eb22 68 void setProcessValue(float pv);
unix_guru 1:117e0c36eb22 69
unix_guru 1:117e0c36eb22 70 /**
unix_guru 1:117e0c36eb22 71 * Set PID to manual or auto mode.
unix_guru 1:117e0c36eb22 72 *
unix_guru 1:117e0c36eb22 73 * @param mode 0 -> Manual
unix_guru 1:117e0c36eb22 74 * Non-zero -> Auto
unix_guru 1:117e0c36eb22 75 */
unix_guru 1:117e0c36eb22 76 void setMode(int mode);
unix_guru 1:117e0c36eb22 77
unix_guru 1:117e0c36eb22 78 /*
arnaudsuire 0:d58c1b8d63d9 79 * Set the bias.
arnaudsuire 0:d58c1b8d63d9 80 * @param bias The bias for the controller output.
arnaudsuire 0:d58c1b8d63d9 81 */
arnaudsuire 0:d58c1b8d63d9 82 void setBias(float bias);
arnaudsuire 0:d58c1b8d63d9 83
arnaudsuire 0:d58c1b8d63d9 84 /*
arnaudsuire 0:d58c1b8d63d9 85 * PID calculation.
arnaudsuire 0:d58c1b8d63d9 86 * @return The controller output as a float between outMin and outMax.
arnaudsuire 0:d58c1b8d63d9 87 */
arnaudsuire 0:d58c1b8d63d9 88 float compute(float pv, float sp);
arnaudsuire 0:d58c1b8d63d9 89
arnaudsuire 0:d58c1b8d63d9 90 //Getters.
arnaudsuire 0:d58c1b8d63d9 91 float getInMin();
arnaudsuire 0:d58c1b8d63d9 92 float getInMax();
arnaudsuire 0:d58c1b8d63d9 93 float getOutMin();
arnaudsuire 0:d58c1b8d63d9 94 float getOutMax();
arnaudsuire 0:d58c1b8d63d9 95 float getInterval();
arnaudsuire 0:d58c1b8d63d9 96 float getPParam();
arnaudsuire 0:d58c1b8d63d9 97 float getIParam();
arnaudsuire 0:d58c1b8d63d9 98 float getDParam();
arnaudsuire 0:d58c1b8d63d9 99
arnaudsuire 0:d58c1b8d63d9 100 private:
arnaudsuire 0:d58c1b8d63d9 101
arnaudsuire 0:d58c1b8d63d9 102 bool usingFeedForward;
unix_guru 1:117e0c36eb22 103 bool inAuto;
unix_guru 1:117e0c36eb22 104
arnaudsuire 0:d58c1b8d63d9 105 //Actual tuning parameters used in PID calculation.
arnaudsuire 0:d58c1b8d63d9 106 float Kc_;
arnaudsuire 0:d58c1b8d63d9 107 float tauR_;
arnaudsuire 0:d58c1b8d63d9 108 float tauD_;
arnaudsuire 0:d58c1b8d63d9 109
arnaudsuire 0:d58c1b8d63d9 110 //Raw tuning parameters.
arnaudsuire 0:d58c1b8d63d9 111 float pParam_;
arnaudsuire 0:d58c1b8d63d9 112 float iParam_;
arnaudsuire 0:d58c1b8d63d9 113 float dParam_;
arnaudsuire 0:d58c1b8d63d9 114
arnaudsuire 0:d58c1b8d63d9 115 //The point we want to reach.
arnaudsuire 0:d58c1b8d63d9 116 float setPoint_;
arnaudsuire 0:d58c1b8d63d9 117 //The thing we measure.
arnaudsuire 0:d58c1b8d63d9 118 float processVariable_;
arnaudsuire 0:d58c1b8d63d9 119 float prevProcessVariable_;
arnaudsuire 0:d58c1b8d63d9 120 //The output that affects the process variable.
arnaudsuire 0:d58c1b8d63d9 121 float controllerOutput_;
arnaudsuire 0:d58c1b8d63d9 122 float prevControllerOutput_;
arnaudsuire 0:d58c1b8d63d9 123
arnaudsuire 0:d58c1b8d63d9 124 //We work in % for calculations so these will scale from
arnaudsuire 0:d58c1b8d63d9 125 //real world values to 0-100% and back again.
arnaudsuire 0:d58c1b8d63d9 126 float inMin_;
arnaudsuire 0:d58c1b8d63d9 127 float inMax_;
arnaudsuire 0:d58c1b8d63d9 128 float inSpan_;
arnaudsuire 0:d58c1b8d63d9 129 float outMin_;
arnaudsuire 0:d58c1b8d63d9 130 float outMax_;
arnaudsuire 0:d58c1b8d63d9 131 float outSpan_;
arnaudsuire 0:d58c1b8d63d9 132
arnaudsuire 0:d58c1b8d63d9 133 //The accumulated error, i.e. integral.
arnaudsuire 0:d58c1b8d63d9 134 float accError_;
arnaudsuire 0:d58c1b8d63d9 135 //The controller output bias.
arnaudsuire 0:d58c1b8d63d9 136 float bias_;
arnaudsuire 0:d58c1b8d63d9 137
arnaudsuire 0:d58c1b8d63d9 138 //The interval between samples.
arnaudsuire 0:d58c1b8d63d9 139 float tSample_;
arnaudsuire 0:d58c1b8d63d9 140
arnaudsuire 0:d58c1b8d63d9 141 //Controller output as a real world value.
arnaudsuire 0:d58c1b8d63d9 142 volatile float realOutput_;
arnaudsuire 0:d58c1b8d63d9 143
arnaudsuire 0:d58c1b8d63d9 144 };
arnaudsuire 0:d58c1b8d63d9 145
arnaudsuire 0:d58c1b8d63d9 146 #endif
arnaudsuire 0:d58c1b8d63d9 147