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Anyone written a simple PID routine for a PIC???

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Carlos Barberis Anyone written a simple PID routine for a PIC???

Guest Posted: Sun Feb 17, 2002 4:19 am

HI
I am looking for a simple pid routine to control a small heater using the pwm output of the pic.
Any hints would be appreciated.
___________________________
This message was ported from CCS's old forum
Original Post ID: 2637

Eric Minbiole Re: Anyone written a simple PID routine for a PIC???
Guest Posted: Sun Feb 17, 2002 7:04 am

:=I am looking for a simple pid routine to control a small heater using the pwm output of the
pic. Any hints would be appreciated.

I recently finished a project that leviated a metal ball using an electromagnet. It used a PIC to
control a PID loop which kept the ball floating stabily.

Here's the code for my PID loop. I'm sure it's not the best PID code out there, but it should give
you a starting point to work from. The only tricky part of the code is in calculating the
differential term. Rather than taking the difference of two adjacent samples, I averaged 4 old
samples, and 4 new samples, and took the difference between the averages. This made the loop
more immune to noisy samples.

Hope it helps!

// control loop constants

float Kp; // proportional gain
float Ki; // integral gain
float Kd; // differential gain

// terms
float Tp; // proportional term
float Ti; // integral term
float Td; // differential term

// circular queue vars

int i = 0;
signed long error_history[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
int8 queue_pos = 0;

1 от 6 01.3.2007 г. 09:14
CCS :: View topic - Anyone written a simple PID routine for a P... http://ccsinfo.com/forum/viewtopic.php?t=9048&highlight=int&...

int8 temp_pos;
signed long prev_ave;
signed long cur_ave;

signed long error;

signed long DeDt; // change in error over time
signed int32 error_sum = 0; // sum of errors, for integral term
signed long desired_power;
int8 power;
int8 setpoint;
float temp_float;

// **** set the loop constants (Kp, Ki, Kd) to something useful

// main control loop

while (1)
{
// calculate the raw error
// negative = disc too low
error = (signed long)read_adc() - setpoint;

// calculate the proportional term

Tp = -Kp * error;

// calculate the integral term

error_sum = error_sum + (signed int32)error;
temp_float = error_sum;
Ti = Ki * temp_float;

// use a circular queue to save a history of the last 8 samples

// this will be used to calculate the differential term
error_history[queue_pos] = error;
queue_pos++;
queue_pos &= 0x07; // keep in 0..7 range
temp_pos = queue_pos;

// calculate the average for the 4 oldest samples

for (i = 0, prev_ave = 0; i < 4; i++)
{
prev_ave += error_history[temp_pos];
temp_pos++;
temp_pos &= 0x07;
}

// calculate the average for the 4 most recent samples

for (i = 0, cur_ave = 0; i < 4; i++)
{
cur_ave += error_history[temp_pos];
temp_pos++;
temp_pos &= 0x07;
}

// calculate the differential term

DeDt = prev_ave - cur_ave;
Td = Kd * DeDt;

// calculate the desired power

desired_power = (signed long)(Tp + Td + Ti);

// set the correct power

if (desired_power < 0)
power = 0;
else if (desired_power > 255)

2 от 6 01.3.2007 г. 09:14
CCS :: View topic - Anyone written a simple PID routine for a P... http://ccsinfo.com/forum/viewtopic.php?t=9048&highlight=int&...

power = 255;
else
power = desired_power;
set_output_power(power); // this could be pwm duty, etc

// wait between samples

delay_ms(2);
}
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This message was ported from CCS's old forum
Original Post ID: 2639

Neutone Re: Anyone written a simple PID routine for a PIC???

Posted: Mon Feb 18, 2002 6:29 am

Joined: 08 Sep 2003 This is turned out to be a really easy way to impliment a PID control. It works good if it's tuned
Posts: 1104
Location: Houston right. I use this to heat a heat exchanger with a variable heat load. My pulse width is 20 seconds
and sampel rate is 5 times per pulse. Any of the number can be changed.

All variables are floats

//PID PWM calculation routine for SupplyTemperature

errorNOW = Setpoint - SupplyTemperature;

PWMonTIME = PWMonTIME + (PWMp * errorNOW ) + (PWMi * (errorNOW - (PWMd * (errorNOW
- errorLAST))));
errorLAST = errorNOW;
if (PWMon > 190) PWMon = 190; //maximum on time
if (PWMon < 10) PWMon =10; //minimum on time
PWMoff = 200 - PWMon;

:=HI
:=I am looking for a simple pid routine to control a small heater using the pwm output of the
pic. Any hints would be appreciated.
___________________________
This message was ported from CCS's old forum
Original Post ID: 2658

future Posted: Wed Dec 22, 2004 9:14 pm

Are PWMp, PWMi and PWMd values from 0 to 1?

Joined: 14 May 2004
Posts: 270
I want to use PID to control a stepper motor, so it has to know how many steps and direction to
apply to correct the error.

Neutone Posted: Fri Dec 24, 2004 1:30 pm

future wrote:
Joined: 08 Sep 2003
Posts: 1104 Are PWMp, PWMi and PWMd values from 0 to 1?
Location: Houston
I want to use PID to control a stepper motor, so it has to know how many steps and
direction to apply to correct the error.

I can't remember but looking at the formula it looks like between -1 and 1.

sonicdeejay Posted: Sat Feb 04, 2006 8:26 am

thx guys...been looking for this too...I will study the code...
Joined: 20 Dec 2005
Posts: 110

3 от 6 01.3.2007 г. 09:14
CCS :: View topic - Anyone written a simple PID routine for a P... http://ccsinfo.com/forum/viewtopic.php?t=9048&highlight=int&...

sonicdeejay Re: Anyone written a simple PID routine for a PIC???

Posted: Sun Feb 05, 2006 8:09 pm

Joined: 20 Dec 2005 Eric Minbiole wrote:

Posts: 110
:=I am looking for a simple pid routine to control a small heater using the pwm output of
the pic. Any hints would be appreciated.

I recently finished a project that leviated a metal ball using an electromagnet. It used a PIC
to control a PID loop which kept the ball floating stabily.

Here's the code for my PID loop. I'm sure it's not the best PID code out there, but it should
give you a starting point to work from. The only tricky part of the code is in calculating the
differential term. Rather than taking the difference of two adjacent samples, I averaged 4
old samples, and 4 new samples, and took the difference between the averages. This made
the loop more immune to noisy samples.

Hope it helps!

// control loop constants

float Kp; // proportional gain
float Ki; // integral gain
float Kd; // differential gain

// terms
float Tp; // proportional term
float Ti; // integral term
float Td; // differential term

// circular queue vars

int i = 0;
signed long error_history[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
int8 queue_pos = 0;
int8 temp_pos;
signed long prev_ave;
signed long cur_ave;

signed long error;

signed long DeDt; // change in error over time
signed int32 error_sum = 0; // sum of errors, for integral term
signed long desired_power;
int8 power;
int8 setpoint;
float temp_float;

// **** set the loop constants (Kp, Ki, Kd) to something useful

// main control loop

while (1)
{
// calculate the raw error
// negative = disc too low
error = (signed long)read_adc() - setpoint;

// calculate the proportional term

Tp = -Kp * error;

// calculate the integral term

error_sum = error_sum + (signed int32)error;
temp_float = error_sum;
Ti = Ki * temp_float;

// use a circular queue to save a history of the last 8 samples

// this will be used to calculate the differential term
error_history[queue_pos] = error;
queue_pos++;
queue_pos &= 0x07; // keep in 0..7 range
temp_pos = queue_pos;

// calculate the average for the 4 oldest samples

for (i = 0, prev_ave = 0; i < 4; i++)
{
prev_ave += error_history[temp_pos];
temp_pos++;

4 от 6 01.3.2007 г. 09:14
CCS :: View topic - Anyone written a simple PID routine for a P... http://ccsinfo.com/forum/viewtopic.php?t=9048&highlight=int&...

temp_pos &= 0x07;

}

// calculate the average for the 4 most recent samples

for (i = 0, cur_ave = 0; i < 4; i++)
{
cur_ave += error_history[temp_pos];
temp_pos++;
temp_pos &= 0x07;
}

// calculate the differential term

DeDt = prev_ave - cur_ave;
Td = Kd * DeDt;

// calculate the desired power

desired_power = (signed long)(Tp + Td + Ti);

// set the correct power

if (desired_power < 0)
power = 0;
else if (desired_power > 255)
power = 255;
else
power = desired_power;
set_output_power(power); // this could be pwm duty, etc

// wait between samples

delay_ms(2);
}
___________________________
This message was ported from CCS's old forum
Original Post ID: 2639

hi there...

seem like the code isn't totally complete...

Isn't it suppose to include looping code rite??

can u post the complete code?

thx

sonic

andibaciu Posted: Fri Feb 23, 2007 6:51 am

@Eric Minbiole
Joined: 06 Feb 2006
Posts: 4 can you put the principle how to set the Kp, Ki, Kd ???

any help is good ....

newguy Posted: Fri Feb 23, 2007 8:55 am

andibaciu wrote:
Joined: 24 Jun 2004
Posts: 557 @Eric Minbiole
Location: Edmonton AB can you put the principle how to set the Kp, Ki, Kd ???
Canada
any help is good ....

5 от 6 01.3.2007 г. 09:14
CCS :: View topic - Anyone written a simple PID routine for a P... http://ccsinfo.com/forum/viewtopic.php?t=9048&highlight=int&...

Read Tim Westcott's excellent article, PID Without a PhD:

http://www.embedded.com/2000/0010/0010feat3.htm

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