PID in FB editor - Printable Version

Code:
PID = {

  -- default params

  defaults = {

    -- invert algorithm, used for cooling

    inverted = true,

    -- minimum output value

    min = 0,

    -- maximum output value

    max = 100,

    -- proportional gain

    kp = 0.25,

    -- integral gain

    ki = 0.42,

    -- derivative gain

    kd = 0.1,

  }

}

 

-- PID init, returns new PID object

function PID:init(params)

  local n = setmetatable({}, { __index = PID })

  local k, v

 

  -- set user parameters

  n.params = params

 

  -- copy parameters that are set by user

  for k, v in pairs(PID.defaults) do

    if n.params[ k ] == nil then

      n.params[ k ] = v

    end

  end

 

  -- reverse gains in inverted mode

  if n.params.inverted then

    n.params.kp = -n.params.kp

    n.params.ki = -n.params.ki

    n.params.kd = -n.params.kd

  end

 

  return n

end

 

-- resets algorithm on init or a switch back from manual mode

function PID:reset()

  -- previous value

  self.previous = grp.getvalue(self.params.current)

  -- reset iterm

  self.iterm = 0

  -- last running time

  self.lasttime = os.time()

 

  -- clamp iterm

  self:clampiterm()

end

 

-- clamps iterm value

function PID:clampiterm()

  self.iterm = math.max(self.iterm, self.params.min)

  self.iterm = math.min(self.iterm, self.params.max)

end

 

-- clamp and set new output value

function PID:setoutput()

  local t, object, value

 

  self.output = math.max(self.output, self.params.min)

  self.output = math.min(self.output, self.params.max)

 

  value = math.floor(self.output)

  local t = type(self.params.output)

 

  -- write to output if object is set

  if t == 'string' or t == 'table' then

    if t == 'string' then

      self.params.output = { self.params.output }

    end

 

    for _, output in ipairs(self.params.output) do

      grp.write(output, value, dt.scale)

    end

  end

end

 

-- algorithm step, returns nil when disabled or no action is required, output value otherwise

function PID:run()

  local result

 

  -- get manual mode status

  local manual = self.params.manual and grp.getvalue(self.params.manual) or false

 

  -- in manual mode, do nothing

  if manual then

    self.running = false

  -- not in manual, check if reset is required after switching on

  elseif not self.running then

    self:reset()

    self.running = true

  end

 

  -- compute new value if not in manual mode

  if self.running then

    -- get time between previous and current call

    local now = os.time()

    self.deltatime = now - self.lasttime

    self.lasttime = now

 

    -- run if previous call was at least 1 second ago

    if self.deltatime > 0 then

      result = self:compute()

    end

  end

 

  return result

end

 

-- computes new output value

function PID:compute()

  local current, setpoint, deltasc, deltain, output

 

  -- get input values

  current = grp.getvalue(self.params.current)

  setpoint = grp.getvalue(self.params.setpoint)

 

  -- delta between setpoint and current

  deltasc = setpoint - current

 

  -- calculate new iterm

  self.iterm = self.iterm + self.params.ki * self.deltatime * deltasc

  self:clampiterm()

 

  -- delta between current and previous value

  deltain = current - self.previous

 

  -- calculate output value

  self.output = self.params.kp * deltasc + self.iterm

  self.output = self.output - self.params.kd / self.deltatime * deltain

 

  -- write to output

  self:setoutput()

 

  -- save previous value

  self.previous = current

 

  return self.output

end