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Added feedforward ability and windup control.

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In addition to feedforward with gain and offset, also added
control over windup.
Also cleaned up some variable names for consistent capitalization.
This commit is contained in:
Jason Melvin
2012-01-24 09:52:26 -05:00
parent 20199df217
commit f8ae2f9b73
2 changed files with 130 additions and 99 deletions
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95
PID_v1/PID_v1.h
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@ -1,11 +1,10 @@
#ifndef PID_v1_h
#define PID_v1_h
#define LIBRARY_VERSION 1.0.0
#define LIBRARY_VERSION 1.0.2
class PID
{
public:
//Constants used in some of the functions below
@ -15,66 +14,74 @@ class PID
#define REVERSE 1
//commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, int); // Setpoint. Initial tuning parameters are also set here
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, double, int); // Setpoint. Initial tuning parameters are also set here
// kp, ki, kd, kf, direction
void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
void Compute(); // * performs the PID calculation. it should be
// called every time loop() cycles. ON/OFF and
// calculation frequency can be set using SetMode
// SetSampleTime respectively
void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
//it's likely the user will want to change this depending on
//the application
void Compute(); // * performs the PID calculation. it should be
// called every time loop() cycles. ON/OFF and
// calculation frequency can be set using SetMode
// SetSampleTime respectively
void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
//it's likely the user will want to change this depending on
//the application
//available but not commonly used functions ********************************************************
void SetTunings(double, double, // * While most users will set the tunings once in the
double); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
// means the output will increase when error is positive. REVERSE
// means the opposite. it's very unlikely that this will be needed
// once it is set in the constructor.
void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
// the PID calculation is performed. default is 100
void SetTunings(double, double, // * While most users will set the tunings once in the
double, double); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
// means the output will increase when error is positive. REVERSE
// means the opposite. it's very unlikely that this will be needed
// once it is set in the constructor.
void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
// the PID calculation is performed. default is 100
void SetWindupI(double); // set the integral windup limit (default is outMax)
void SetFFzero(double); // set the zero point for the feedforward term (default is 0; for temp control, set to ambient)
//Display functions ****************************************************************
double GetKp(); // These functions query the pid for interal values.
double GetKi(); // they were created mainly for the pid front-end,
double GetKd(); // where it's important to know what is actually
int GetMode(); // inside the PID.
int GetDirection(); //
double GetKp(); // These functions query the pid for interal values.
double GetKi(); // they were created mainly for the pid front-end,
double GetKd(); // where it's important to know what is actually
double GetKf(); // inside the PID.
double GetWi();
double GetFFzero();
int GetMode();
int GetDirection();
private:
void Initialize();
double dispKp; // * we'll hold on to the tuning parameters in user-entered
double dispKi; // format for display purposes
double dispKd; //
double dispKp; // * we'll hold on to the tuning parameters in user-entered
double dispKi; // format for display purposes
double dispKd;
double dispKf;
double kp; // * (P)roportional Tuning Parameter
double ki; // * (I)ntegral Tuning Parameter
double kd; // * (D)erivative Tuning Parameter
double kp; // * (P)roportional Tuning Parameter
double ki; // * (I)ntegral Tuning Parameter
double kd; // * (D)erivative Tuning Parameter
double kf; // * (F)eedforward turning parameter
double ff_zero; // * feedforward zero point
int controllerDirection;
double *myInput; // * Pointers to the Input, Output, and Setpoint variables
double *myOutput; // This creates a hard link between the variables and the
double *mySetpoint; // PID, freeing the user from having to constantly tell us
// what these values are. with pointers we'll just know.
double *myInput; // * Pointers to the Input, Output, and Setpoint variables
double *myOutput; // This creates a hard link between the variables and the
double *mySetpoint; // PID, freeing the user from having to constantly tell us
// what these values are. with pointers we'll just know.
unsigned long lastTime;
double ITerm, lastInput;
int SampleTime;
double iTerm, lastInput;
double windupI; // windup limit for integral term
int sampleTime;
double outMin, outMax;
bool inAuto;
};
#endif
#endif