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Simple PID Controller
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def pid_controller(y, yc, h=1, Ti=1, Td=1, Kp=1, u0=0, e0=0) | |
"""Calculate System Input using a PID Controller | |
Arguments: | |
y .. Measured Output of the System | |
yc .. Desired Output of the System | |
h .. Sampling Time | |
Kp .. Controller Gain Constant | |
Ti .. Controller Integration Constant | |
Td .. Controller Derivation Constant | |
u0 .. Initial state of the integrator | |
e0 .. Initial error | |
Make sure this function gets called every h seconds! | |
""" | |
# Step variable | |
k = 0 | |
# Initialization | |
ui_prev = u0 | |
e_prev = e0 | |
while 1: | |
# Error between the desired and actual output | |
e = yc - y | |
# Integration Input | |
ui = ui_prev + 1/Ti * h*e | |
# Derivation Input | |
ud = 1/Td * (e - e_prev)/h | |
# Adjust previous values | |
e_prev = e | |
ui_prev = ui | |
# Calculate input for the system | |
u = Kp * (e + ui + ud) | |
k += 1 | |
yield u |
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If you're running python2 you'll need to make them floats as you have shown or add this import:
from __future__ import division
I don't think there are any changes required for Python 3.