PID Control Object (with questions)

Trying out the code Wilberforce posted using the low pass filter as a test process.
CSV files are runs with different tuning parameters.

var PID = require('pid-controller');

var setpoint = 0.5;
var duty = 0;
var N=0;
var Kc= 1.5;
var Ti= 2.0;
var Td= 0.0;
var setPoint=0.5;
var cycleTime= 1000;

var ctr = new PID(0, setPoint, Kc,Ti, Td, PID.fwd);
ctr.mode(PID.auto);
ctr.setLimits(-0.5, 0.5);
ctr.out=0.0;
analogWrite("A4",ctr.sp);
console.log("N,error,input,output,setpoi­nt");
var I=setInterval(function () {
  N++;
  if(N>20)ctr.setpoint(0.6);
  if(N>50)clearInterval(I);
ctr.inp=analogRead("A1");  
    ctr.compute();
analogWrite("A4",ctr.out+0.5);
console.log(""+N+","+(ctr.sp-ctr.inp).to­Fixed(4)+","+
            ctr.inp.toFixed(4)+","+
            (ctr.out+0.5).toFixed(4)+","+ctr.sp.toFi­xed(4));
}, 1000);

5 Attachments

• PIDc.js
• PIDc4.csv
• PIDc3.csv
• PIDc2.csv
• PIDc1.csv