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comparison: components/PID/PID_v1.c

components/PID/PID_v1.c

changeset 82
7d17e2cb31a8
parent 1
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equal deleted inserted replaced
81:72c715ac0444 82:7d17e2cb31a8
20 double kp; // (P)roportional Tuning Parameter 20 double kp; // (P)roportional Tuning Parameter
21 double ki; // (I)ntegral Tuning Parameter 21 double ki; // (I)ntegral Tuning Parameter
22 double kd; // (D)erivative Tuning Parameter 22 double kd; // (D)erivative Tuning Parameter
23 23
24 int controllerDirection; 24 int controllerDirection;
25 int pOn;
26 25
27 double *myInput; // Pointers to the Input, Output, and Setpoint variables 26 double *myInput; // Pointers to the Input, Output, and Setpoint variables
28 double *myOutput; // This creates a hard link between the variables and the 27 double *myOutput; // This creates a hard link between the variables and the
29 double *mySetpoint; // PID, freeing the user from having to constantly tell us 28 double *mySetpoint; // PID, freeing the user from having to constantly tell us
30 // what these values are. with pointers we'll just know. 29 // what these values are. with pointers we'll just know.
32 unsigned long lastTime; ///< Last time of the time window. 31 unsigned long lastTime; ///< Last time of the time window.
33 double outputSum, lastInput; 32 double outputSum, lastInput;
34 33
35 unsigned long SampleTime; 34 unsigned long SampleTime;
36 double outMin, outMax; 35 double outMin, outMax;
37 bool inAuto, pOnE; 36 bool inAuto;
38 37
39 38
40 static const char *TAG = "pid"; 39 static const char *TAG = "pid";
41 40
42 void PID_Initialize(void); 41 void PID_Initialize(void);
43 42
44 43
45 44
46 void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_PON POn, PID_DIRECTION Direction) { 45 void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_DIRECTION Direction) {
47 myOutput = Output; 46 myOutput = Output;
48 myInput = Input; 47 myInput = Input;
49 mySetpoint = Setpoint; 48 mySetpoint = Setpoint;
50 inAuto = false; 49 inAuto = false;
51 50
52 PID_SetOutputLimits(0, 255); 51 PID_SetOutputLimits(0, 255);
53 52
54 SampleTime = 100; 53 SampleTime = 100;
55 54
56 PID_SetControllerDirection(Direction); 55 PID_SetControllerDirection(Direction);
57 PID_SetTunings(Kp, Ki, Kd, POn); 56 PID_SetTunings(Kp, Ki, Kd);
58 57
59 lastTime = (xTaskGetTickCount() * portTICK_PERIOD_MS ) - SampleTime; 58 lastTime = (xTaskGetTickCount() * portTICK_PERIOD_MS ) - SampleTime;
60 } 59 }
61 60
62 61
78 /*Compute all the working error variables*/ 77 /*Compute all the working error variables*/
79 double input = *myInput; 78 double input = *myInput;
80 double error = *mySetpoint - input; 79 double error = *mySetpoint - input;
81 double dInput = (input - lastInput); 80 double dInput = (input - lastInput);
82 outputSum+= (ki * error); 81 outputSum+= (ki * error);
83 82 outputSum-= kp * dInput;
84 /*Add Proportional on Measurement, if P_ON_M is specified*/
85 if (!pOnE)
86 outputSum-= kp * dInput;
87 83
88 if (outputSum > outMax) 84 if (outputSum > outMax)
89 outputSum= outMax; 85 outputSum= outMax;
90 else if (outputSum < outMin) 86 else if (outputSum < outMin)
91 outputSum= outMin; 87 outputSum= outMin;
92 88
93 /*Add Proportional on Error, if P_ON_E is specified*/ 89 double output = 0;
94 double output;
95 if (pOnE)
96 output = kp * error;
97 else
98 output = 0;
99 90
100 /*Compute Rest of PID Output*/ 91 /*Compute Rest of PID Output*/
101 output += outputSum - kd * dInput; 92 output += outputSum - kd * dInput;
102 93
103 if (output > outMax) 94 if (output > outMax)
119 /* 110 /*
120 * This function allows the controller's dynamic performance to be adjusted. 111 * This function allows the controller's dynamic performance to be adjusted.
121 * it's called automatically from the constructor, but tunings can also 112 * it's called automatically from the constructor, but tunings can also
122 * be adjusted on the fly during normal operation 113 * be adjusted on the fly during normal operation
123 */ 114 */
124 void PID_SetTunings(double Kp, double Ki, double Kd, PID_PON POn) 115 void PID_SetTunings(double Kp, double Ki, double Kd)
125 { 116 {
126 if (Kp<0 || Ki<0 || Kd<0) { 117 if (Kp<0 || Ki<0 || Kd<0) {
127 ESP_LOGE(TAG, "SetTunings negative input"); 118 ESP_LOGE(TAG, "SetTunings negative input");
128 return; 119 return;
129 } 120 }
130 121
131 pOn = POn;
132 pOnE = POn == PID_P_ON_E;
133
134 dispKp = Kp; dispKi = Ki; dispKd = Kd; 122 dispKp = Kp; dispKi = Ki; dispKd = Kd;
135 123
136 ESP_LOGI(TAG, "SetTunings(%.3f, %.3f, %.3f, %s)", Kp, Ki, Kd, (POn) ? "P_ON_E":"P_ON_M"); 124 ESP_LOGI(TAG, "SetTunings(%.3f, %.3f, %.3f)", Kp, Ki, Kd);
137 double SampleTimeInSec = ((double)SampleTime)/1000; 125 double SampleTimeInSec = ((double)SampleTime)/1000;
138 kp = Kp; 126 kp = Kp;
139 ki = Ki * SampleTimeInSec; 127 ki = Ki * SampleTimeInSec;
140 kd = Kd / SampleTimeInSec; 128 kd = Kd / SampleTimeInSec;
141 129

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