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Change the Computing Method of PTerm #4

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Change the Computing Method of PTerm #4

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edf6327
change the computing method of PTerm in PID.py and do some changes th…
Sep 1, 2018
65b2956
change the computing method of PTerm in PID.py and do some changes th…
Sep 1, 2018
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6 changes: 4 additions & 2 deletions PID.py
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Original file line number Diff line number Diff line change
Expand Up @@ -79,8 +79,10 @@ def update(self, feedback_value):
delta_time = self.current_time - self.last_time
delta_error = error - self.last_error

self.PTerm = self.Kp * error

if (delta_time >= self.sample_time):
self.PTerm = self.Kp * error
# self.PTerm = self.Kp * error
self.ITerm += error * delta_time

if (self.ITerm < -self.windup_guard):
Expand All @@ -96,7 +98,7 @@ def update(self, feedback_value):
self.last_time = self.current_time
self.last_error = error

self.output = self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm)
self.output = self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm)

def setKp(self, proportional_gain):
"""Determines how aggressively the PID reacts to the current error with setting Proportional Gain"""
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Binary file added __pycache__/PID.cpython-36.pyc
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9 changes: 5 additions & 4 deletions test_pid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ def test_pid(P = 0.2, I = 0.0, D= 0.0, L=100):
pid = PID.PID(P, I, D)

pid.SetPoint=0.0
pid.setSampleTime(0.01)
pid.setSampleTime(0.1)

END = L
feedback = 0
Expand All @@ -66,7 +66,7 @@ def test_pid(P = 0.2, I = 0.0, D= 0.0, L=100):
feedback += (output - (1/i))
if i>9:
pid.SetPoint = 1
time.sleep(0.02)
time.sleep(0.01)

feedback_list.append(feedback)
setpoint_list.append(pid.SetPoint)
Expand All @@ -90,5 +90,6 @@ def test_pid(P = 0.2, I = 0.0, D= 0.0, L=100):
plt.show()

if __name__ == "__main__":
test_pid(1.2, 1, 0.001, L=50)
# test_pid(0.8, L=50)
test_pid(0.5, 0.1, 0.001, L=200)
test_pid(1, 0.1, 0.001, L=200)
test_pid(1, 0.5, 0.001, L=200)