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Alekseev
2025-04-07 15:14:45 +07:00
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21
LICENSE
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MIT License
Copyright (c) 2020 Philip Salmony
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

65
PID_Test.c
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#include <stdio.h>
#include <stdlib.h>
#include "PID.h"
/* Controller parameters */
#define PID_KP 2.0f
#define PID_KI 0.5f
#define PID_KD 0.25f
#define PID_TAU 0.02f
#define PID_LIM_MIN -10.0f
#define PID_LIM_MAX 10.0f
#define PID_LIM_MIN_INT -5.0f
#define PID_LIM_MAX_INT 5.0f
#define SAMPLE_TIME_S 0.01f
/* Maximum run-time of simulation */
#define SIMULATION_TIME_MAX 4.0f
/* Simulated dynamical system (first order) */
float TestSystem_Update(float inp);
int main()
{
/* Initialise PID controller */
PIDController pid = { PID_KP, PID_KI, PID_KD,
PID_TAU,
PID_LIM_MIN, PID_LIM_MAX,
PID_LIM_MIN_INT, PID_LIM_MAX_INT,
SAMPLE_TIME_S };
PIDController_Init(&pid);
/* Simulate response using test system */
float setpoint = 1.0f;
printf("Time (s)\tSystem Output\tControllerOutput\r\n");
for (float t = 0.0f; t <= SIMULATION_TIME_MAX; t += SAMPLE_TIME_S) {
/* Get measurement from system */
float measurement = TestSystem_Update(pid.out);
/* Compute new control signal */
PIDController_Update(&pid, setpoint, measurement);
printf("%f\t%f\t%f\r\n", t, measurement, pid.out);
}
return 0;
}
float TestSystem_Update(float inp) {
static float output = 0.0f;
static const float alpha = 0.02f;
output = (SAMPLE_TIME_S * inp + output) / (1.0f + alpha * SAMPLE_TIME_S);
return output;
}