Crates.io | pid |
lib.rs | pid |
version | 4.0.0 |
source | src |
created_at | 2018-07-24 02:08:29.540761 |
updated_at | 2022-12-27 22:00:47.43812 |
description | A PID controller. |
homepage | |
repository | https://github.com/braincore/pid-rs |
max_upload_size | |
id | 75712 |
size | 33,698 |
A proportional-integral-derivative (PID) controller.
setpoint
/kp
/ki
/kd
.
ki
by storing the integration of
e(t) * ki(t)
rather than only e(t)
.f32
or f64
.no_std
environments, such as embedded systems.serde
Cargo feature, if you need Pid
to implement
Serialize
/Deserialize
.use pid::Pid;
// Create a new proportional-only PID controller with a setpoint of 15
let mut pid = Pid::new(15.0, 100.0);
pid.p(10.0, 100.0);
// Input a measurement with an error of 5.0 from our setpoint
let output = pid.next_control_output(10.0);
// Show that the error is correct by multiplying by our kp
assert_eq!(output.output, 50.0); // <--
assert_eq!(output.p, 50.0);
// It won't change on repeat; the controller is proportional-only
let output = pid.next_control_output(10.0);
assert_eq!(output.output, 50.0); // <--
assert_eq!(output.p, 50.0);
// Add a new integral term to the controller and input again
pid.i(1.0, 100.0);
let output = pid.next_control_output(10.0);
// Now that the integral makes the controller stateful, it will change
assert_eq!(output.output, 55.0); // <--
assert_eq!(output.p, 50.0);
assert_eq!(output.i, 5.0);
// Add our final derivative term and match our setpoint target
pid.d(2.0, 100.0);
let output = pid.next_control_output(15.0);
// The output will now say to go down due to the derivative
assert_eq!(output.output, -5.0); // <--
assert_eq!(output.p, 0.0);
assert_eq!(output.i, 5.0);
assert_eq!(output.d, -10.0);
t(i) = t(i-1) + C
)-limit <= term <= limit
).There are several different formulations of PID controllers. This library uses the independent form:
where:
kp
/ki
/kd
can be changed during operation and can therefore be a function
of time.
If you're interested in the dependent form, add your own logic that computes
kp
/ki
/kd
using dead time, time constant, kc
, or whatever else.
Licensed under either at your discretion: