60 lines
1.1 KiB
C++
60 lines
1.1 KiB
C++
|
/*
|
||
|
|
* pid_auto_tune.cpp
|
||
|
|
*
|
||
|
|
* Created on: Sep 13, 2017
|
||
|
|
* @author Andrey Belomutskiy, (c) 2012-2017
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "pid_auto_tune.h"
|
||
|
|
|
||
|
|
PID_AutoTune::PID_AutoTune() {
|
||
|
|
running = false;
|
||
|
|
nLookBack = 50;
|
||
|
|
oStep = 10;
|
||
|
|
noiseBand = 0.5;
|
||
|
|
}
|
||
|
|
|
||
|
|
int PID_AutoTune::Runtime() {
|
||
|
|
justevaled = false;
|
||
|
|
if (peakCount > 9 && running) {
|
||
|
|
running = false;
|
||
|
|
FinishUp();
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
justevaled = true;
|
||
|
|
if (!running) {
|
||
|
|
//initialize working variables the first time around
|
||
|
|
peakType = 0;
|
||
|
|
peakCount = 0;
|
||
|
|
justchanged = false;
|
||
|
|
absMax = input;
|
||
|
|
absMin = input;
|
||
|
|
setpoint = input;
|
||
|
|
running = true;
|
||
|
|
outputStart = output;
|
||
|
|
output = outputStart + oStep;
|
||
|
|
|
||
|
|
for (int i = nLookBack - 1; i >= 0; i--) {
|
||
|
|
// default values for history array
|
||
|
|
lastInputs[i] = input;
|
||
|
|
}
|
||
|
|
|
||
|
|
} else {
|
||
|
|
if (input > absMax)
|
||
|
|
absMax = input;
|
||
|
|
if (input < absMin)
|
||
|
|
absMin = input;
|
||
|
|
}
|
||
|
|
|
||
|
|
//oscillate the output base on the input's relation to the setpoint
|
||
|
|
|
||
|
|
if (input > setpoint + noiseBand)
|
||
|
|
output = outputStart - oStep;
|
||
|
|
else if (input < setpoint - noiseBand)
|
||
|
|
output = outputStart + oStep;
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|