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dsp: add PID controller

This commit is contained in:
Steffen Vogel 2019-04-12 09:45:12 +02:00
parent 994d9ed6a6
commit 2346846541
3 changed files with 126 additions and 0 deletions

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@ -0,0 +1,57 @@
/** A PID controller.
*
* @file
* @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
* @copyright 2014-2019, Institute for Automation of Complex Power Systems, EONERC
* @license GNU General Public License (version 3)
*
* VILLAScommon
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*********************************************************************************/
#pragma once
namespace villas {
namespace dsp {
class PID {
protected:
double dt;
double max;
double min;
double Kp;
double Kd;
double Ki;
double pre_error;
double integral;
public:
/**
* Kp - proportional gain
* Ki - Integral gain
* Kd - derivative gain
* dt - loop interval time
* max - maximum value of manipulated variable
* min - minimum value of manipulated variable
*/
PID(double _dt, double _max, double _min, double _Kp, double _Kd, double _Ki);
/** Returns the manipulated variable given a setpoint and current process value */
double calculate(double setpoint, double pv);
};
} // namespace dsp
} // namespace villas

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@ -27,6 +27,7 @@ add_library(villas-common SHARED
compat.cpp
crypt.cpp
hist.cpp
dsp/pid.cpp
kernel/kernel.cpp
kernel/kernel.cpp
kernel/rt.cpp

68
common/lib/dsp/pid.cpp Normal file
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/** A PID controller.
*
* @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
* @copyright 2014-2019, Institute for Automation of Complex Power Systems, EONERC
* @license GNU General Public License (version 3)
*
* VILLAScommon
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*********************************************************************************/
#include <iostream>
#include <cmath>
#include <villas/dsp/pid.hpp>
using namespace std;
using namespace villas::dsp;
PID::PID(double _dt, double _max, double _min, double _Kp, double _Kd, double _Ki) :
dt(_dt),
max(_max),
min(_min),
Kp(_Kp),
Kd(_Kd),
Ki(_Ki)
{ }
double PID::calculate(double setpoint, double pv)
{
/* Calculate error */
double error = setpoint - pv;
/* Proportional term */
double Pout = Kp * error;
/* Integral term */
integral += error * dt;
double Iout = Ki * integral;
/* Derivative term */
double derivative = (error - pre_error) / dt;
double Dout = Kd * derivative;
/* Calculate total output */
double output = Pout + Iout + Dout;
/* Restrict to max/min */
if (output > max)
output = max;
else if (output < min)
output = min;
/* Save error to previous error */
pre_error = error;
return output;
}