kopia lustrzana https://github.com/jamesgao/kiln_controller
95 wiersze
2.1 KiB
Python
95 wiersze
2.1 KiB
Python
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import logging
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logger = logging.getLogger("kiln.PID")
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class PID(object):
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"""
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Discrete PID control
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#The recipe gives simple implementation of a Discrete Proportional-Integral-Derivative (PID) controller. PID controller gives output value for error between desired reference input and measurement feedback to minimize error value.
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#More information: http://en.wikipedia.org/wiki/PID_controller
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#
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#cnr437@gmail.com
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#
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####### Example #########
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#
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#p=PID(3.0,0.4,1.2)
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#p.setPoint(5.0)
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#while True:
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# pid = p.update(measurement_value)
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#
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#
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"""
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def __init__(self, P=2.0, I=0.0, D=1.0, Derivator=0, Integrator=0, Integrator_max=500, Integrator_min=-500):
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self.Kp=P
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self.Ki=I
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self.Kd=D
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self.Derivator=Derivator
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self.Integrator=Integrator
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self.Integrator_max=Integrator_max
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self.Integrator_min=Integrator_min
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self.set_point=0.0
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self.error=0.0
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def update(self,current_value):
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"""
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Calculate PID output value for given reference input and feedback
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"""
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self.error = self.set_point - current_value
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self.P_value = self.Kp * self.error
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self.D_value = self.Kd * ( self.error - self.Derivator)
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self.Derivator = self.error
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self.Integrator = self.Integrator + self.error
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if self.Integrator > self.Integrator_max:
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self.Integrator = self.Integrator_max
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elif self.Integrator < self.Integrator_min:
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self.Integrator = self.Integrator_min
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self.I_value = self.Integrator * self.Ki
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PID = self.P_value + self.I_value + self.D_value
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logger.info("P: %f, I: %f, D:%f, Output:%f"%(self.P_value, self.I_value, self.D_value, PID))
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return PID
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def setPoint(self,set_point):
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"""
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Initilize the setpoint of PID
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"""
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self.set_point = set_point
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self.Integrator=0
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self.Derivator=0
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def setIntegrator(self, Integrator):
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self.Integrator = Integrator
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def setDerivator(self, Derivator):
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self.Derivator = Derivator
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def setKp(self,P):
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self.Kp=P
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def setKi(self,I):
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self.Ki=I
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def setKd(self,D):
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self.Kd=D
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def getPoint(self):
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return self.set_point
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def getError(self):
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return self.error
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def getIntegrator(self):
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return self.Integrator
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def getDerivator(self):
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return self.Derivator
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