0.1.6 PID_RT

This commit is contained in:
rob tillaart 2023-02-12 13:01:13 +01:00
parent 9a24a34bca
commit 3d42b11e80
13 changed files with 179 additions and 27 deletions

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@ -6,7 +6,7 @@ jobs:
lint: lint:
runs-on: ubuntu-latest runs-on: ubuntu-latest
steps: steps:
- uses: actions/checkout@v2 - uses: actions/checkout@v3
- uses: arduino/arduino-lint-action@v1 - uses: arduino/arduino-lint-action@v1
with: with:
library-manager: update library-manager: update

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@ -8,7 +8,7 @@ jobs:
runs-on: ubuntu-latest runs-on: ubuntu-latest
steps: steps:
- uses: actions/checkout@v2 - uses: actions/checkout@v3
- uses: ruby/setup-ruby@v1 - uses: ruby/setup-ruby@v1
with: with:
ruby-version: 2.6 ruby-version: 2.6

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@ -10,7 +10,7 @@ jobs:
test: test:
runs-on: ubuntu-latest runs-on: ubuntu-latest
steps: steps:
- uses: actions/checkout@v2 - uses: actions/checkout@v3
- name: json-syntax-check - name: json-syntax-check
uses: limitusus/json-syntax-check@v1 uses: limitusus/json-syntax-check@v1
with: with:

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@ -6,12 +6,18 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/). and this project adheres to [Semantic Versioning](http://semver.org/).
## [0.1.6] - 2023-02-12
- add example **PID_simulated_heater.ino** Kudos to drf5n
- update readme.md
- update GitHub actions
- update license 2023
## [0.1.5] - 2022-10-23 ## [0.1.5] - 2022-10-23
- add RP2040 to build-CI - add RP2040 to build-CI
- add changelog.md - add changelog.md
- minor edits readme.md - minor edits readme.md
## [0.1.4] - 2021-12-23 ## [0.1.4] - 2021-12-23
- update library.json, license, - update library.json, license,
- minor edits - minor edits

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@ -1,6 +1,6 @@
MIT License MIT License
Copyright (c) 2020-2022 Rob Tillaart Copyright (c) 2020-2023 Rob Tillaart
Permission is hereby granted, free of charge, to any person obtaining a copy Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal of this software and associated documentation files (the "Software"), to deal

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@ -1,7 +1,7 @@
// //
// FILE: PID_RT.cpp // FILE: PID_RT.cpp
// AUTHOR: Rob Tillaart // AUTHOR: Rob Tillaart
// VERSION: 0.1.5 // VERSION: 0.1.6
// PURPOSE: PID library for Arduino // PURPOSE: PID library for Arduino
// URL: https://github.com/RobTillaart/PID // URL: https://github.com/RobTillaart/PID

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@ -2,7 +2,7 @@
// //
// FILE: PID_RT.h // FILE: PID_RT.h
// AUTHOR: Rob Tillaart // AUTHOR: Rob Tillaart
// VERSION: 0.1.5 // VERSION: 0.1.6
// PURPOSE: PID library for Arduino // PURPOSE: PID library for Arduino
// URL: https://github.com/RobTillaart/PID_RT // URL: https://github.com/RobTillaart/PID_RT
@ -10,7 +10,7 @@
#include "Arduino.h" #include "Arduino.h"
#define PID_LIB_VERSION (F("0.1.5")) #define PID_LIB_VERSION (F("0.1.6"))
class PID_RT class PID_RT

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@ -15,9 +15,29 @@ Arduino library for PID controller.
The PID_RT class allows the user to instantiate a PID controller. The PID_RT class allows the user to instantiate a PID controller.
This library allows one to
- adjust the K parameters runtime.
- stop / start computing runtime.
(to be elaborated)
#### Some PID background
- https://en.wikipedia.org/wiki/PID_controller
- https://www.ni.com/nl-nl/innovations/white-papers/06/pid-theory-explained.html
- https://www.youtube.com/watch?v=wkfEZmsQqiA
E-book
- https://www.elektor.nl/pid-based-practical-digital-control-with-raspberry-pi-and-arduino-uno-e-book
## Interface ## Interface
```cpp
#include "PID_RT.h"
```
### Constructor ### Constructor
- **PID_RT()** minimal constructor. - **PID_RT()** minimal constructor.
@ -26,14 +46,14 @@ The PID_RT class allows the user to instantiate a PID controller.
### Core ### Core
- **void reset()** resets internals to startup. - **void reset()** resets internals to startup (Kp == Ki == Kd == 0).
- **void setPoint(float sp)** sets setPoint, that needs to be reached. - **void setPoint(float sp)** sets the setPoint, that needs to be reached.
- **float getSetPoint()** read back setPoint. - **float getSetPoint()** read back the setPoint.
- **bool compute(float input)** does one iteration of the PID controller. - **bool compute(float input)** does one iteration of the PID controller.
Returns **true** after calculation. Returns **true** after a calculation is done.
Returns **false** if not computed, either due to stop flag or not yet time to do the calculation. Returns **false** if not computed, either due to stop flag or not yet time to do the calculation.
- **float getOutput()** get the last calculated output value. - **float getOutput()** get the last calculated output value.
- **bool setK(float Kp, float Ki, float Kd)** Set the initial P I D parameters as a group. - **bool setK(float Kp, float Ki, float Kd)** Set the initial **P I D** parameters as a group.
Overwrites the values set in the constructor. Overwrites the values set in the constructor.
@ -86,25 +106,30 @@ almost sure that no iterations are missed.
## Operations ## Operations
See examples. See examples and
- https://wokwi.com/projects/356437164264235009 (thanks to drf5n)
## Future ## Future
#### must #### Must
- update / improve documentation - update / improve documentation
- more testing - more testing
#### should
- add examples to test more #### Should
- improve unit test
- move all code to .cpp
#### could
- add reference to PID book / website?
- investigate if it works as PI or P controller too. - investigate if it works as PI or P controller too.
- PI as derived or base class? - PI as derived or base class?
- add examples to test more
- improve unit test
#### Could
- add reference to PID book / website?
- move all code to .cpp
#### Wont

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@ -0,0 +1,27 @@
platforms:
rpipico:
board: rp2040:rp2040:rpipico
package: rp2040:rp2040
gcc:
features:
defines:
- ARDUINO_ARCH_RP2040
warnings:
flags:
packages:
rp2040:rp2040:
url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
compile:
# Choosing to run compilation tests on 2 different Arduino platforms
platforms:
- uno
# - due
# - zero
# - leonardo
- m4
- esp32
# - esp8266
# - mega2560
- rpipico

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@ -0,0 +1,93 @@
//
// FILE: PID_simulated_heater.ino
// AUTHOR: drf5n (based on basic example)
// PURPOSE: demo
//
// This simulates a 20W heater block driven by the PID
// Wokwi https://wokwi.com/projects/356437164264235009
//
// https://github.com/RobTillaart/PID_RT/issues/5
#include "PID_RT.h"
PID_RT PID;
const int PWM_PIN = 3; // UNO PWM pin
int op = 0;
float input = 0;
void setup()
{
Serial.begin(115200);
Serial.println(__FILE__);
PID.setPoint(125);
PID.setOutputRange(0, 255); // PWM range
PID.setInterval(50);
PID.setK(2, 5, 1);
PID.start();
op = analogRead(A0);
}
void loop()
{
float heaterWatts = ((int)op)*20.0/255; // 20W heater
float blockTemp = simPlant(heaterWatts); // simulate heating
input = blockTemp;
// input = analogRead(A0);
if (PID.compute(input))
{
op = PID.getOutput();
analogWrite(PWM_PIN, op);
// Serial.print(PID.getInput());
// Serial.print('\t');
// Serial.println(op);
}
report();
}
void report(void){
static uint32_t last = 0;
const int interval = 1000;
if (millis() - last > interval){
last += interval;
// Serial.print(millis()/1000.0);
Serial.print(PID.getSetPoint());
Serial.print(' ');
Serial.print(input);
Serial.print(' ');
Serial.println(op);
}
}
float simPlant(float Q){ // heat input in W (or J/s)
// simulate a 1x1x2cm aluminum block with a heater and passive ambient cooling
// next line "C is not used", fails in arduino-build-ci for ESP32
// float C = 237; // W/mK thermal conduction coefficient for Al
float h = 5; // W/m2K thermal convection coefficient for Al passive
float Cps = 0.89; // J/g°C
float area = 1e-4; // m2 area for convection
float mass = 10; // g
float Tamb = 25; // °C
static float T = Tamb; // °C
static uint32_t last = 0; // last call
uint32_t interval = 100; // milliseconds
if(millis() - last >= interval){
last += interval;
T = T + Q * interval / 1000 / mass / Cps - (T - Tamb) * area * h;
}
return T;
}
// -- END OF FILE --

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@ -15,7 +15,7 @@
"type": "git", "type": "git",
"url": "https://github.com/RobTillaart/PID_RT" "url": "https://github.com/RobTillaart/PID_RT"
}, },
"version": "0.1.5", "version": "0.1.6",
"license": "MIT", "license": "MIT",
"frameworks": "arduino", "frameworks": "arduino",
"platforms": "*", "platforms": "*",

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@ -1,5 +1,5 @@
name=PID_RT name=PID_RT
version=0.1.5 version=0.1.6
author=Rob Tillaart <rob.tillaart@gmail.com> author=Rob Tillaart <rob.tillaart@gmail.com>
maintainer=Rob Tillaart <rob.tillaart@gmail.com> maintainer=Rob Tillaart <rob.tillaart@gmail.com>
sentence=Arduino PID library sentence=Arduino PID library

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@ -103,4 +103,5 @@ unittest(test_compute)
unittest_main() unittest_main()
// -------- // -- END OF FILE --