It's a simple PID simulator in C# and Python.
You can set kp, ki, kd, setpoint, dt, and the function will return a value.
The pid formula should be:
What it looks like in C#:
double Kp = 0.5, Ki = 0.5, Kd = 0.1, SetPoint = 10, dt = 0.1, integral, pre_err;
public double Start(double measured_value)
{
double err, output, derivative;
err = SetPoint - measured_value;
integral += err * dt;
derivative = (err - pre_err) / dt;
output = (Kp * err + Ki * integral + Kd * derivative);
pre_err = err;
return output;
}
And what it looks like in Python:
def compute(self, feedback_value = None):
err, output, derivative = 0, 0, 0
if(feedback_value is not None):
self.feedback_value = feedback_value
err = self.SetPoint - self.feedback_value
self.integral += err * self.dt
derivative = (err - self.pre_err) / self.dt
output = (self.Kp * err + self.Ki * self.integral + self.Kd * derivative)
self.pre_err = err
self.feedback_value = output
return output
In C#:
1.You can copy the method above.
2.Use .dll in library folder.
3.Download the project and add in to your project.
In Python:
0.Download the file Simple_PID_Python/PID_Demo.py, and see how to use.
1.Download the file Simple_PID_Python/PID.py
2.import PID
3.Set kp,ki,kd
pid = PID(1, 10, 0.001, SetPoint=1, dt = 0.1)
4.Use it.
output = pid.compute(feedback_signal)
5.If you want to start at 0
pid.clear()
In C#:
You can open project in example folder.
It's a simple pid demo.
I use a lowpass filter which I write before to simulate a system.(https://github.com/jeremy7710/LowpassFilter)
Just set kp, ki, kd, dt, setpoint, and click set button.
And image will be plotted.
In Python:
1.You just run the code at Simple_PID_Python/PID_Demo.py, and you will see a beautiful output.
cd YourPath
python PID_Demo.py
