comparison: components/PID/PID_v1.c
components/PID/PID_v1.c
- changeset 0
- b74b0e4902c3
- child 1
- ad2c8b13eb88
equal
deleted
inserted
replaced
| -1:000000000000 | 0:b74b0e4902c3 |
|---|---|
| 1 | |
| 2 #include <stddef.h> | |
| 3 #include <string.h> | |
| 4 #include <stdlib.h> | |
| 5 #include <stdbool.h> | |
| 6 #include <stdint.h> | |
| 7 #include <math.h> | |
| 8 | |
| 9 #include "freertos/FreeRTOS.h" | |
| 10 #include "freertos/task.h" | |
| 11 #include "esp_system.h" | |
| 12 #include "esp_log.h" | |
| 13 | |
| 14 #include "PID_v1.h" | |
| 15 | |
| 16 double dispKp; // we'll hold on to the tuning parameters in user-entered | |
| 17 double dispKi; // format for display purposes | |
| 18 double dispKd; | |
| 19 | |
| 20 double kp; // (P)roportional Tuning Parameter | |
| 21 double ki; // (I)ntegral Tuning Parameter | |
| 22 double kd; // (D)erivative Tuning Parameter | |
| 23 | |
| 24 int controllerDirection; | |
| 25 int pOn; | |
| 26 | |
| 27 double *myInput; // Pointers to the Input, Output, and Setpoint variables | |
| 28 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 | |
| 30 // what these values are. with pointers we'll just know. | |
| 31 | |
| 32 unsigned long lastTime; | |
| 33 double outputSum, lastInput; | |
| 34 | |
| 35 unsigned long SampleTime; | |
| 36 double outMin, outMax; | |
| 37 bool inAuto, pOnE; | |
| 38 | |
| 39 | |
| 40 static const char *TAG = "pid"; | |
| 41 | |
| 42 void PID_Initialize(void); | |
| 43 | |
| 44 | |
| 45 | |
| 46 void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_PON POn, PID_DIRECTION Direction) { | |
| 47 myOutput = Output; | |
| 48 myInput = Input; | |
| 49 mySetpoint = Setpoint; | |
| 50 inAuto = false; | |
| 51 | |
| 52 PID_SetOutputLimits(0, 255); | |
| 53 | |
| 54 SampleTime = 100; | |
| 55 | |
| 56 PID_SetControllerDirection(Direction); | |
| 57 PID_SetTunings(Kp, Ki, Kd, POn); | |
| 58 | |
| 59 lastTime = (xTaskGetTickCount() * portTICK_PERIOD_MS ) - SampleTime; | |
| 60 } | |
| 61 | |
| 62 | |
| 63 | |
| 64 /* | |
| 65 * This, as they say, is where the magic happens. this function should be called | |
| 66 * every time "void loop()" executes. the function will decide for itself whether a new | |
| 67 * pid Output needs to be computed. returns true when the output is computed, | |
| 68 * false when nothing has been done. | |
| 69 */ | |
| 70 bool PID_Compute(void) | |
| 71 { | |
| 72 if (!inAuto) | |
| 73 return false; | |
| 74 | |
| 75 unsigned long now = xTaskGetTickCount() * portTICK_PERIOD_MS; | |
| 76 unsigned long timeChange = (now - lastTime); | |
| 77 if (timeChange >= SampleTime) { | |
| 78 /*Compute all the working error variables*/ | |
| 79 double input = *myInput; | |
| 80 double error = *mySetpoint - input; | |
| 81 double dInput = (input - lastInput); | |
| 82 outputSum+= (ki * error); | |
| 83 | |
| 84 /*Add Proportional on Measurement, if P_ON_M is specified*/ | |
| 85 if (!pOnE) | |
| 86 outputSum-= kp * dInput; | |
| 87 | |
| 88 if (outputSum > outMax) | |
| 89 outputSum= outMax; | |
| 90 else if (outputSum < outMin) | |
| 91 outputSum= outMin; | |
| 92 | |
| 93 /*Add Proportional on Error, if P_ON_E is specified*/ | |
| 94 double output; | |
| 95 if (pOnE) | |
| 96 output = kp * error; | |
| 97 else | |
| 98 output = 0; | |
| 99 | |
| 100 /*Compute Rest of PID Output*/ | |
| 101 output += outputSum - kd * dInput; | |
| 102 | |
| 103 if (output > outMax) | |
| 104 output = outMax; | |
| 105 else if (output < outMin) | |
| 106 output = outMin; | |
| 107 *myOutput = output; | |
| 108 | |
| 109 /*Remember some variables for next time*/ | |
| 110 lastInput = input; | |
| 111 lastTime = now; | |
| 112 return true; | |
| 113 } else | |
| 114 return false; | |
| 115 } | |
| 116 | |
| 117 | |
| 118 | |
| 119 /* | |
| 120 * This function allows the controller's dynamic performance to be adjusted. | |
| 121 * it's called automatically from the constructor, but tunings can also | |
| 122 * be adjusted on the fly during normal operation | |
| 123 */ | |
| 124 void PID_SetTunings(double Kp, double Ki, double Kd, PID_PON POn) | |
| 125 { | |
| 126 if (Kp<0 || Ki<0 || Kd<0) { | |
| 127 ESP_LOGE(TAG, "SetTunings negative input"); | |
| 128 return; | |
| 129 } | |
| 130 | |
| 131 pOn = POn; | |
| 132 pOnE = POn == PID_P_ON_E; | |
| 133 | |
| 134 dispKp = Kp; dispKi = Ki; dispKd = Kd; | |
| 135 | |
| 136 ESP_LOGI(TAG, "SetTunings(%.3f, %.3f, %.3f, %s)", Kp, Ki, Kd, (POn) ? "P_ON_E":"P_ON_M"); | |
| 137 double SampleTimeInSec = ((double)SampleTime)/1000; | |
| 138 kp = Kp; | |
| 139 ki = Ki * SampleTimeInSec; | |
| 140 kd = Kd / SampleTimeInSec; | |
| 141 | |
| 142 if (controllerDirection == PID_REVERSE) { | |
| 143 kp = (0 - kp); | |
| 144 ki = (0 - ki); | |
| 145 kd = (0 - kd); | |
| 146 } | |
| 147 } | |
| 148 | |
| 149 | |
| 150 | |
| 151 /* | |
| 152 * sets the period, in Milliseconds, at which the calculation is performed | |
| 153 */ | |
| 154 void PID_SetSampleTime(int NewSampleTime) | |
| 155 { | |
| 156 ESP_LOGI(TAG, "SetSampleTime(%d)", NewSampleTime); | |
| 157 | |
| 158 if (NewSampleTime > 0) { | |
| 159 double ratio = (double)NewSampleTime / (double)SampleTime; | |
| 160 ki *= ratio; | |
| 161 kd /= ratio; | |
| 162 SampleTime = (unsigned long)NewSampleTime; | |
| 163 } | |
| 164 } | |
| 165 | |
| 166 | |
| 167 | |
| 168 /* | |
| 169 * This function will be used far more often than SetInputLimits. while | |
| 170 * the input to the controller will generally be in the 0-1023 range (which is | |
| 171 * the default already,) the output will be a little different. maybe they'll | |
| 172 * be doing a time window and will need 0-8000 or something. or maybe they'll | |
| 173 * want to clamp it from 0-125. who knows. at any rate, that can all be done | |
| 174 * here. | |
| 175 */ | |
| 176 void PID_SetOutputLimits(double Min, double Max) | |
| 177 { | |
| 178 if(Min >= Max) { | |
| 179 ESP_LOGE(TAG, "SetOutputLimits Min >= Max"); | |
| 180 return; | |
| 181 } | |
| 182 | |
| 183 ESP_LOGI(TAG, "SetOutputLimits(%.0f, %.0f)", Min, Max); | |
| 184 outMin = Min; | |
| 185 outMax = Max; | |
| 186 | |
| 187 if(inAuto) { | |
| 188 if(*myOutput > outMax) | |
| 189 *myOutput = outMax; | |
| 190 else if(*myOutput < outMin) | |
| 191 *myOutput = outMin; | |
| 192 | |
| 193 if(outputSum > outMax) | |
| 194 outputSum= outMax; | |
| 195 else if(outputSum < outMin) | |
| 196 outputSum= outMin; | |
| 197 } | |
| 198 } | |
| 199 | |
| 200 | |
| 201 | |
| 202 /* | |
| 203 * Allows the controller Mode to be set to manual (0) or Automatic (non-zero) | |
| 204 * when the transition from manual to auto occurs, the controller is | |
| 205 * automatically initialized | |
| 206 */ | |
| 207 void PID_SetMode(PID_MODE Mode) | |
| 208 { | |
| 209 bool newAuto = (Mode == PID_AUTOMATIC); | |
| 210 | |
| 211 ESP_LOGI(TAG, "SetMode(%s)", (Mode) ? "AUTOMATIC":"MANUAL"); | |
| 212 if(newAuto && !inAuto) { /*we just went from manual to auto*/ | |
| 213 PID_Initialize(); | |
| 214 } | |
| 215 inAuto = newAuto; | |
| 216 } | |
| 217 | |
| 218 | |
| 219 | |
| 220 /* | |
| 221 * does all the things that need to happen to ensure a bumpless transfer | |
| 222 * from manual to automatic mode. | |
| 223 */ | |
| 224 void PID_Initialize() | |
| 225 { | |
| 226 outputSum = *myOutput; | |
| 227 lastInput = *myInput; | |
| 228 if(outputSum > outMax) | |
| 229 outputSum = outMax; | |
| 230 else if(outputSum < outMin) | |
| 231 outputSum = outMin; | |
| 232 } | |
| 233 | |
| 234 | |
| 235 | |
| 236 /* | |
| 237 * The PID will either be connected to a DIRECT acting process (+Output leads | |
| 238 * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to | |
| 239 * know which one, because otherwise we may increase the output when we should | |
| 240 * be decreasing. This is called from the constructor. | |
| 241 */ | |
| 242 void PID_SetControllerDirection(PID_DIRECTION Direction) | |
| 243 { | |
| 244 ESP_LOGI(TAG, "SetControllerDirection(%s)", (Direction) ? "REVERSE":"DIRECT"); | |
| 245 | |
| 246 if(inAuto && Direction !=controllerDirection) { | |
| 247 kp = (0 - kp); | |
| 248 ki = (0 - ki); | |
| 249 kd = (0 - kd); | |
| 250 } | |
| 251 controllerDirection = Direction; | |
| 252 } | |
| 253 | |
| 254 | |
| 255 | |
| 256 /* | |
| 257 * Just because you set the Kp=-1 doesn't mean it actually happened. these | |
| 258 * functions query the internal state of the PID. they're here for display | |
| 259 * purposes. this are the functions the PID Front-end uses for example | |
| 260 */ | |
| 261 double PID_GetKp() | |
| 262 { | |
| 263 return dispKp; | |
| 264 } | |
| 265 | |
| 266 double PID_GetKi() | |
| 267 { | |
| 268 return dispKi; | |
| 269 } | |
| 270 | |
| 271 double PID_GetKd() | |
| 272 { | |
| 273 return dispKd; | |
| 274 } | |
| 275 | |
| 276 PID_MODE PID_GetMode() | |
| 277 { | |
| 278 return inAuto ? PID_AUTOMATIC : PID_MANUAL; | |
| 279 } | |
| 280 | |
| 281 PID_DIRECTION PID_GetDirection() | |
| 282 { | |
| 283 return controllerDirection; | |
| 284 } | |
| 285 | |
| 286 |
