52 lines
1003 B
Python
52 lines
1003 B
Python
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class Pid:
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def __init__(self):
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# Integrator
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self.yi = 0
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# Differentiator
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self.xd = 0
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# Auto windup
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self.y_min = -1.0
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self.y_max = 1.0
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self.d = 0
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# Output
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self.y = 0
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@staticmethod
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def params(kp, ki, kd, rho):
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p = dict(kp=kp, ki=ki, kd=kd, rho=rho)
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return p
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def reset(self):
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self.yi = 0
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self.xd = 0
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def process(self, dt, params, err):
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kp = params['kp']
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ki = params['ki']
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kd = params['kd']
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rho = params['rho']
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yi = self.yi + ki*dt * err - ki*dt - self.d * rho
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yd = err - self.xd
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_yp = kp * err
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_yi = yi
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_yd = kd/dt * yd
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y = _yp + _yi + _yd
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self.y = max(self.y_min, min(self.y_max, y))
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self.d = max(0, self.y - y)
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if self.d < 0:
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print("d = {}".format(self.d))
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self.yi = yi
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self.xd = err
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def get_y(self):
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return self.y
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