Skip to content

PID controller #21

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
pradeeban merged 2 commits into from
Sep 14, 2022
Merged

PID controller #21

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c2c4d91
Update shannon.py
shanferns12 Sep 14, 2022
d249c83
Merge branch 'ControlCore-Project:main' into main
shanferns12 Sep 14, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 17 additions & 9 deletions tools/shannon.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,16 +1,23 @@
import numpy as np
import concore
setpoint = 67.5
Kp = 0.1
Ki = 0.01
Kd = 0.01
dT = 0.1
global Prev_Error, I
Prev_Error = 0
I = 0


def bangbang_controller(ym):
amp = 0
if ym[0]>setpoint +2.5:
amp = 3
elif ym[0]<setpoint -2.5:
amp = 1

def pid_controller(ym):
global Prev_Error, I
Error = setpoint- ym[0]
P = Error
I = I + Error*dT
D = (Error - Prev_Error )/dT
amp = Kp*P + Ki*I + Kd*D
Prev_Error = Error
ustar = np.array([amp,30])
return ustar

Expand All @@ -26,7 +33,8 @@ def bangbang_controller(ym):
ym = concore.read(1,"ym",init_simtime_ym)
ym = np.array(ym)

ustar = bangbang_controller(ym)
ustar = pid_controller(ym)

print(str(concore.simtime) + " u="+str(ustar) + "ym="+str(ym))
concore.write(1,"u",list(ustar),delta=0)