├── .gitignore ├── Makefile ├── README.md ├── index.d.ts ├── index.js ├── lib └── index.js ├── package-lock.json ├── package.json └── test └── index.js /.gitignore: -------------------------------------------------------------------------------- 1 | node_modules 2 | temp.js 3 | temp -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- 1 | MOCHA_OPTS= 2 | REPORTER = dot 3 | 4 | test: 5 | @NODE_ENV=test ./node_modules/.bin/mocha \ 6 | --reporter $(REPORTER) \ 7 | $(MOCHA_OPTS) 8 | 9 | test-w: 10 | @NODE_ENV=test ./node_modules/.bin/mocha \ 11 | --reporter $(REPORTER) \ 12 | --growl \ 13 | --watch \ 14 | $(MOCHA_OPTS) 15 | 16 | .PHONY: test test-w -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # node-pid-controller 2 | 3 | Simple Node.js PID controller. 4 | 5 | ![pid](http://upload.wikimedia.org/wikipedia/commons/9/91/PID_en_updated_feedback.svg) 6 | 7 | ## Installation 8 | 9 | ``` 10 | $ npm install node-pid-controller 11 | ``` 12 | 13 | ## Example 14 | 15 | Let's take the example of a car cruise control. We want the car driving at 120km/h. 16 | 17 | ### Create a Controller instance 18 | 19 | `k_p`, `k_i` and `k_d` are the proportional, integral and derivative terms. `dt` is the interval of time between two measures. If not set, it will be automatically calculated. 20 | 21 | ```js 22 | let Controller = require('node-pid-controller'); 23 | 24 | let ctr = new Controller({ 25 | k_p: 0.25, 26 | k_i: 0.01, 27 | k_d: 0.01, 28 | dt: 1 29 | }); 30 | ``` 31 | 32 | You can also pass options as arguments: 33 | ```js 34 | let ctr = new Controller(0.25, 0.01, 0.01, 1); // k_p, k_i, k_d, dt 35 | ``` 36 | 37 | ### Set the target 38 | 39 | ```js 40 | ctr.setTarget(120); // 120km/h 41 | ``` 42 | 43 | ### Get the correction 44 | 45 | ```js 46 | let correction = ctr.update(110); // 110km/h is the current speed 47 | ``` 48 | 49 | ### Real example 50 | 51 | Normally, you use the correction to a measure, in a closed loop. 52 | 53 | ```js 54 | let goalReached = false 55 | while (!goalReached) { 56 | let output = measureFromSomeSensor(); 57 | let input = ctr.update(output); 58 | applyInputToActuator(input); 59 | goalReached = (input === 0); // in the case of continuous control, you let this variable 'false' 60 | } 61 | ``` 62 | 63 | ## Options 64 | 65 | * `k_p`, `k_i`, `k_d`: the PID's coefficients 66 | * `dt`: interval of time (in seconds) between two measures. If not provided, it will be automatically calculated. 67 | * `i_max`: the maximum absolute value of the integral term (optional) 68 | 69 | ## Test 70 | 71 | ```js 72 | mocha test 73 | ``` 74 | 75 | ## Author 76 | 77 | Philmod <philippe.modard@gmail.com> 78 | -------------------------------------------------------------------------------- /index.d.ts: -------------------------------------------------------------------------------- 1 | declare namespace Controller { 2 | interface Options { 3 | k_p?: number; 4 | k_i?: number; 5 | k_d?: number; 6 | /** 7 | * Interval of time between two updates 8 | * If not set, it will be automatically calculated 9 | */ 10 | dt?: number; 11 | /** The maximum absolute value of the integral term */ 12 | i_max?: number; 13 | } 14 | } 15 | 16 | declare class Controller { 17 | public k_p: number; 18 | public k_i: number; 19 | public k_d: number; 20 | public dt: number; 21 | public i_max: number; 22 | 23 | public sumError: number; 24 | public lastError: number; 25 | public lastTime: number; 26 | 27 | public target: number; 28 | 29 | constructor(options: Controller.Options); 30 | constructor(k_p?: number, k_i?: number, k_d?: number, dt?: number); 31 | 32 | public setTarget(target: number): void; 33 | 34 | public update(currentValue: number): number; 35 | 36 | public reset(): number; 37 | } 38 | 39 | export = Controller; 40 | -------------------------------------------------------------------------------- /index.js: -------------------------------------------------------------------------------- 1 | module.exports = require('./lib/index.js'); -------------------------------------------------------------------------------- /lib/index.js: -------------------------------------------------------------------------------- 1 | "use strict"; 2 | 3 | /** 4 | * PID Controller. 5 | */ 6 | class Controller { 7 | constructor(k_p, k_i, k_d, dt) { 8 | let i_max; 9 | if (typeof k_p === 'object') { 10 | let options = k_p; 11 | k_p = options.k_p; 12 | k_i = options.k_i; 13 | k_d = options.k_d; 14 | dt = options.dt; 15 | i_max = options.i_max; 16 | } 17 | 18 | // PID constants 19 | this.k_p = (typeof k_p === 'number') ? k_p : 1; 20 | this.k_i = k_i || 0; 21 | this.k_d = k_d || 0; 22 | 23 | // Interval of time between two updates 24 | // If not set, it will be automatically calculated 25 | this.dt = dt || 0; 26 | 27 | // Maximum absolute value of sumError 28 | this.i_max = i_max || 0; 29 | 30 | this.sumError = 0; 31 | this.lastError = 0; 32 | this.lastTime = 0; 33 | 34 | this.target = 0; // default value, can be modified with .setTarget 35 | } 36 | 37 | setTarget(target) { 38 | this.target = target; 39 | } 40 | 41 | update(currentValue) { 42 | if(!currentValue) throw new Error("Invalid argument"); 43 | this.currentValue = currentValue; 44 | 45 | // Calculate dt 46 | let dt = this.dt; 47 | if (!dt) { 48 | let currentTime = Date.now(); 49 | if (this.lastTime === 0) { // First time update() is called 50 | dt = 0; 51 | } else { 52 | dt = (currentTime - this.lastTime) / 1000; // in seconds 53 | } 54 | this.lastTime = currentTime; 55 | } 56 | if (typeof dt !== 'number' || dt === 0) { 57 | dt = 1; 58 | } 59 | 60 | let error = (this.target - this.currentValue); 61 | this.sumError = this.sumError + error*dt; 62 | if (this.i_max > 0 && Math.abs(this.sumError) > this.i_max) { 63 | let sumSign = (this.sumError > 0) ? 1 : -1; 64 | this.sumError = sumSign * this.i_max; 65 | } 66 | 67 | let dError = (error - this.lastError)/dt; 68 | this.lastError = error; 69 | 70 | return (this.k_p*error) + (this.k_i * this.sumError) + (this.k_d * dError); 71 | } 72 | 73 | reset() { 74 | this.sumError = 0; 75 | this.lastError = 0; 76 | this.lastTime = 0; 77 | } 78 | } 79 | 80 | module.exports = Controller; 81 | -------------------------------------------------------------------------------- /package-lock.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "node-pid-controller", 3 | "version": 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-------------------------------------------------------------------------------- 1 | { 2 | "name": "node-pid-controller", 3 | "version": "1.0.1", 4 | "description": "Node.js PID controller", 5 | "keywords": [ 6 | "pid", 7 | "controller", 8 | "robotic", 9 | "drone", 10 | "system" 11 | ], 12 | "author": "Philmod ", 13 | "homepage": "http://github.com/philmod/node-pid-controller", 14 | "engines": { 15 | "node": ">= v4.0.0" 16 | }, 17 | "devDependencies": { 18 | "mocha": "^10.3.0", 19 | "should": "^13.2.3" 20 | }, 21 | "scripts": { 22 | "test": "make test" 23 | }, 24 | "main": "index", 25 | "directories": { 26 | "test": "test" 27 | }, 28 | "repository": { 29 | "type": "git", 30 | "url": "git://github.com/Philmod/node-pid-controller.git" 31 | }, 32 | "license": "BSD" 33 | } 34 | -------------------------------------------------------------------------------- /test/index.js: -------------------------------------------------------------------------------- 1 | "use strict"; 2 | 3 | /** 4 | * Module dependencies. 5 | */ 6 | 7 | let Controller = require('../') 8 | , should = require('should') 9 | , assert = require('assert') 10 | ; 11 | 12 | /** 13 | * Tests 14 | */ 15 | describe('pid-controller', () => { 16 | 17 | let options = { 18 | k_p: 0.5, 19 | k_i: 0.1, 20 | k_d: 0.2, 21 | dt: 1 22 | }; 23 | 24 | // Create the controller 25 | let ctr = new Controller(options.k_p, options.k_i, options.k_d, options.dt); 26 | 27 | it('should have set the coefficient', () => { 28 | ctr.k_p.should.equal(options.k_p); 29 | ctr.k_i.should.equal(options.k_i); 30 | ctr.k_d.should.equal(options.k_d); 31 | ctr.dt.should.equal(options.dt); 32 | }); 33 | 34 | it('should have set the coefficient from an options object', () => { 35 | let ctr = new Controller(options); 36 | 37 | ctr.k_p.should.equal(options.k_p); 38 | ctr.k_i.should.equal(options.k_i); 39 | ctr.k_d.should.equal(options.k_d); 40 | ctr.dt.should.equal(options.dt); 41 | }); 42 | 43 | it('should set the target', () => { 44 | let v = 120; // 120km/h 45 | ctr.setTarget(v); 46 | ctr.target.should.equal(v); 47 | }); 48 | 49 | it('should return the correction', () => { 50 | let vt = 110; // current speed 51 | let correction = ctr.update(vt); 52 | correction.should.equal(8); 53 | }); 54 | 55 | it('should reset the controller', () => { 56 | ctr.reset(); 57 | ctr.sumError.should.equal(0); 58 | ctr.lastError.should.equal(0); 59 | ctr.lastTime.should.equal(0); 60 | }); 61 | 62 | it('should return the correction for the given update interval', () => { 63 | ctr.dt = 2; // 2 seconds between updates 64 | let correction = ctr.update(115); 65 | correction.should.equal(4); 66 | ctr.dt = options.dt; // Reset dt 67 | }); 68 | 69 | it('should return the correction with sumError <= i_max', () => { 70 | let ctr = new Controller(options); 71 | ctr.i_max = 5; // sumError will be 10 72 | ctr.setTarget(120); 73 | let correction = ctr.update(110); 74 | correction.should.equal(7.5); 75 | ctr.sumError.should.be.belowOrEqual(ctr.i_max); 76 | }); 77 | 78 | it('should return a null correction', () => { 79 | let ctr = new Controller(0, 0, 0); 80 | ctr.setTarget(120); 81 | let correction = ctr.update(110); 82 | correction.should.equal(0); 83 | }); 84 | 85 | it('should throw error when updating a NaN value', () => { 86 | let ctr = new Controller(0,0,0); 87 | ctr.setTarget(20); 88 | should.throws(() => { 89 | ctr.update(NaN); 90 | }, Error, "Invalid argument") 91 | }); 92 | 93 | }); 94 | --------------------------------------------------------------------------------