├── PID C - Struct.pdf ├── PID_plot.sce ├── README.md ├── Test_PID.c └── data_PID_C.txt /PID C - Struct.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/simorxb/PID-C-Struct/HEAD/PID C - Struct.pdf -------------------------------------------------------------------------------- /PID_plot.sce: -------------------------------------------------------------------------------- 1 | // Read from file 2 | data_PID = []; 3 | t_PID = []; 4 | F_PID1 = []; 5 | z_PID1 = []; 6 | stp_PID1 = []; 7 | F_PID2 = []; 8 | z_PID2 = []; 9 | stp_PID2 = []; 10 | 11 | data_PID = read('PID C - Struct/data_PID_C.txt',-1,7); 12 | t_PID = data_PID(:,1); 13 | F_PID1 = data_PID(:,2); 14 | z_PID1 = data_PID(:,3); 15 | stp_PID1 = data_PID(:,4); 16 | F_PID2 = data_PID(:,5); 17 | z_PID2 = data_PID(:,6); 18 | stp_PID2 = data_PID(:,7); 19 | 20 | // Draw 21 | subplot(212); 22 | h = plot(t_PID, F_PID1, 'b-', t_PID, F_PID2, 'g-', 'LineWidth',3); 23 | ax=gca(),// get the handle on the current axes 24 | //ax.data_bounds=[0 -100;120 100]; 25 | set(gca(),"grid",[1 1]); 26 | l = legend('Command PID1', 'Command PID2'); 27 | l.font_size = 3; 28 | xlabel('t[s]', 'font_style', 'times bold', 'font_size', 3); 29 | ylabel('F [N]', 'font_style', 'times bold', 'font_size', 3); 30 | 31 | subplot(211); 32 | h = plot(t_PID, stp_PID1, 'r-', t_PID, stp_PID2, 'k-', t_PID, z_PID1, 'b-', t_PID, z_PID2, 'g-', 'LineWidth',3); 33 | ax=gca(),// get the handle on the current axes 34 | //ax.data_bounds=[0 0;120 250]; 35 | set(gca(),"grid",[1 1]); 36 | l = legend('Setpoint object 1', 'Setpoint object 2', 'Response object 1', 'Response object 2'); 37 | l.font_size = 3; 38 | xlabel('t[s]', 'font_style', 'times bold', 'font_size', 3); 39 | ylabel('z [m]', 'font_style', 'times bold', 'font_size', 3); 40 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Reusable PID Controller in C 2 | 3 | ## Summary 4 | 5 | This project features a reusable PID (Proportional-Integral-Derivative) controller implemented in C. It is designed using a structure that enables multiple instances to be reused effectively. This framework allows for testing code pieces in a C simulation environment, particularly suitable for control and embedded software engineering applications. 6 | 7 | ## Project Overview 8 | 9 | The PID controller is a crucial component in control systems, widely used for its simplicity and effectiveness. This implementation focuses on creating a reusable and modular architecture. The project involves: 10 | 11 | - **Object Model:** Simulates an object of mass $m = 10 \, \text{kg}$, subject to viscous friction with a coefficient $k = 0.5 \, \text{N}\cdot\text{s/m}$, and pushed by a force $F$. 12 | - **PID Controller:** Implements a PID control loop that adjusts the control input to achieve desired object positioning. 13 | 14 | ### Architecture 15 | 16 | The architecture of this program includes: 17 | 18 | - **Model of an Object:** 19 | - Mass ($m$): 10 kg 20 | - Viscous friction coefficient ($k$): 0.5 N·s/m 21 | - Force ($F$): Limited to [-100, 100] N 22 | 23 | - **PID Controller:** 24 | - Includes a filtered derivative for the derivative term 25 | - Command saturation and rate limiter 26 | - Anti-windup technique through back-calculation 27 | 28 | ### Mathematical Model 29 | 30 | The model of the object is defined by the differential equation: 31 | 32 | $$ 33 | m \cdot \frac{d^2z}{dt^2} = F - k \cdot \frac{dz}{dt} 34 | $$ 35 | 36 | Where: 37 | - $z$ is the position of the object in meters 38 | - $v = \frac{dz}{dt}$ is the velocity of the object 39 | 40 | ### Simulation 41 | 42 | The simulation environment is implemented in C and tests two slightly different PIDs controlling the position of two identical objects. The main function performs the following tasks: 43 | 44 | - Creates structures for two PIDs and objects 45 | - Iterates 1200 times (equivalent to 120 seconds of simulation time, with each step representing 0.1 seconds) 46 | - Generates setpoints: 100 m and 50 m for the first 60 seconds, then changes to 200 m and 150 m 47 | - Executes `PID_Step` using the previous step's $z$ value 48 | - Executes `Object_Step` using the command from `PID_Step` 49 | 50 | The simulation results are demonstrated graphically, showcasing the effectiveness of this approach. 51 | 52 | ## Features 53 | 54 | - **Reusable Architecture:** Utilize structures to create multiple PIDs for different control tasks. 55 | - **Efficient Simulation:** Run simulations with detailed output to analyze PID performance. 56 | - **Comprehensive Control:** Incorporates derivative filtering, command saturation, rate limiting, and anti-windup. 57 | 58 | ## Usage 59 | 60 | To use this PID controller framework: 61 | 62 | 1. Clone the repository: `git clone https://github.com/simorxb/PID-C-Struct` 63 | 2. Navigate to the directory: `cd PID-C-Struct` 64 | 3. Compile the code using a C compiler: `gcc -o pid_simulation main.c` 65 | 4. Run the simulation: `./pid_simulation` 66 | 67 | ## Author 68 | 69 | **Simone Bertoni** 70 | 71 | For more information and projects, visit [Simone Bertoni Lab](https://simonebertonilab.com/). 72 | 73 | ## Contact 74 | 75 | For further inquiries and discussions, connect on [LinkedIn](https://www.linkedin.com/in/simone-bertoni). 76 | 77 | --- 78 | 79 | This project is a practical implementation of PID control theory, emphasizing flexibility and reusability in embedded systems development. It serves as a foundation for experimenting with and understanding control algorithms in a structured environment. 80 | -------------------------------------------------------------------------------- /Test_PID.c: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | #define LENGTH 1200 6 | #define TIME_STEP 0.1 7 | 8 | struct PID 9 | { 10 | float Kp; // Proportional gain constant 11 | float Ki; // Integral gain constant 12 | float Kd; // Derivative gain constant 13 | float Kaw; // Anti-windup gain constant 14 | float T_C; // Time constant for derivative filtering 15 | float T; // Time step 16 | float max; // Max command 17 | float min; // Min command 18 | float max_rate; // Max rate of change of the command 19 | float integral; // Integral term 20 | float err_prev; // Previous error 21 | float deriv_prev; // Previous derivative 22 | float command_sat_prev;// Previous saturated command 23 | float command_prev; // Previous command 24 | }; 25 | 26 | struct Object 27 | { 28 | float m; // Mass of the object 29 | float k; // Damping constant 30 | float F_max; // Max force applied to the object 31 | float F_min; // Min force applied to the object 32 | float T; // Time step 33 | float v; // Velocity of the object 34 | float z; // Position of the object 35 | }; 36 | 37 | float PID_Step(struct PID *pid, float measurement, float setpoint) 38 | { 39 | /* This function implements a PID controller. 40 | * 41 | * Inputs: 42 | * measurement: current measurement of the process variable 43 | * setpoint: desired value of the process variable 44 | * pid: a pointer to a PID struct containing the controller parameters 45 | * 46 | * Returns: 47 | * command_sat: the control output of the PID controller (saturated based on max. min, max_rate) 48 | */ 49 | 50 | float err; 51 | float command; 52 | float command_sat; 53 | float deriv_filt; 54 | 55 | /* Error calculation */ 56 | err = setpoint - measurement; 57 | 58 | /* Integral term calculation - including anti-windup */ 59 | pid->integral += pid->Ki*err*pid->T + pid->Kaw*(pid->command_sat_prev - pid->command_prev)*pid->T; 60 | 61 | /* Derivative term calculation using filtered derivative method */ 62 | deriv_filt = (err - pid->err_prev + pid->T_C*pid->deriv_prev)/(pid->T + pid->T_C); 63 | pid->err_prev = err; 64 | pid->deriv_prev = deriv_filt; 65 | 66 | /* Summing the 3 terms */ 67 | command = pid->Kp*err + pid->integral + pid->Kd*deriv_filt; 68 | 69 | /* Remember command at previous step */ 70 | pid->command_prev = command; 71 | 72 | /* Saturate command */ 73 | if (command > pid->max) 74 | { 75 | command_sat = pid->max; 76 | } 77 | else if (command < pid->min) 78 | { 79 | command_sat = pid->min; 80 | } 81 | else 82 | { 83 | command_sat = command; 84 | } 85 | 86 | /* Apply rate limiter */ 87 | if (command_sat > pid->command_sat_prev + pid->max_rate*pid->T) 88 | { 89 | command_sat = pid->command_sat_prev + pid->max_rate*pid->T; 90 | } 91 | else if (command_sat < pid->command_sat_prev - pid->max_rate*pid->T) 92 | { 93 | command_sat = pid->command_sat_prev - pid->max_rate*pid->T; 94 | } 95 | else 96 | { 97 | /* No action */ 98 | } 99 | 100 | /* Remember saturated command at previous step */ 101 | pid->command_sat_prev = command_sat; 102 | 103 | return command_sat; 104 | } 105 | 106 | float Object_Step(struct Object *obj, float F){ 107 | 108 | /* This function updates the position of an object in 1D based on the applied force F and 109 | * the object's mass, viscous damping coefficient k, max/min forces, and time step T. 110 | * 111 | * Inputs: 112 | * F: the force applied to the object 113 | * obj: a pointer to an object struct containing its properties (mass, damping, etc.) 114 | * 115 | * Returns: 116 | * z: the position of the object in meters 117 | */ 118 | 119 | /* Declare variables for the derivative dv/dt and the saturated force command */ 120 | float dv_dt; 121 | float F_sat; 122 | 123 | /* Apply saturation to the input force */ 124 | if (F > obj->F_max) 125 | { 126 | F_sat = obj->F_max; 127 | } 128 | else if (F < obj->F_min) 129 | { 130 | F_sat = obj->F_min; 131 | } 132 | else 133 | { 134 | F_sat = F; 135 | } 136 | 137 | /* Calculate the derivative dv/dt using the input force and the object's velocity and properties */ 138 | dv_dt = (F_sat - obj->k*obj->v)/obj->m; 139 | 140 | /* Update the velocity and position of the object by integrating the derivative using the time step T */ 141 | obj->v += dv_dt*obj->T; 142 | obj->z += obj->v*obj->T; 143 | 144 | /* Return the updated position of the object */ 145 | return obj->z; 146 | } 147 | 148 | 149 | int main() 150 | { 151 | // Current simulation time 152 | float t = 0; 153 | 154 | // Iteration counter 155 | int i = 0; 156 | 157 | // Setpoint and output of the first control loop 158 | float command1 = 0; 159 | float stp1 = 100; 160 | float z1 = 0; 161 | 162 | // Setpoint and output of the second control loop 163 | float command2 = 0; 164 | float stp2 = 50; 165 | float z2 = 0; 166 | 167 | // PID controller parameters for the first control loop 168 | struct PID pid1 = {1, 0.1, 5, 0.1, 1, TIME_STEP, 100, -100, 40, 0, 0, 0, 0, 0}; 169 | 170 | // Object parameters for the first control loop 171 | struct Object obj1 = {10, 0.5, 100, -100, TIME_STEP, 0, 0}; 172 | 173 | // PID controller parameters for the second control loop 174 | struct PID pid2 = {1.8, 0.3, 7, 0.3, 1, TIME_STEP, 100, -100, 40, 0, 0, 0, 0, 0}; 175 | 176 | // Object parameters for the second control loop 177 | struct Object obj2 = {10, 0.5, 100, -100, TIME_STEP, 0, 0}; 178 | 179 | // Open a file for logging simulation data 180 | FILE *file = fopen("data_PID_C.txt", "w"); 181 | 182 | /* Implement iteration using a while loop */ 183 | while(i < LENGTH) 184 | { 185 | /* Change setpoint at t = 60 seconds */ 186 | if (t < 60) 187 | { 188 | stp1 = 100; 189 | stp2 = 50; 190 | } 191 | else 192 | { 193 | stp1 = 200; 194 | stp2 = 150; 195 | } 196 | 197 | // Execute the first control loop 198 | command1 = PID_Step(&pid1, z1, stp1); 199 | z1 = Object_Step(&obj1, command1); 200 | 201 | // Execute the second control loop 202 | command2 = PID_Step(&pid2, z2, stp2); 203 | z2 = Object_Step(&obj2, command2); 204 | 205 | // Log the current time and control loop values to the file 206 | fprintf(file, "%f %f %f %f %f %f %f\n", t, command1, z1, stp1, command2, z2, stp2); 207 | 208 | // Increment the time and iteration counter 209 | t = t + TIME_STEP; 210 | i = i + 1; 211 | } 212 | 213 | // Close the file and exit the program 214 | fclose(file); 215 | exit(0); 216 | } 217 | -------------------------------------------------------------------------------- /data_PID_C.txt: -------------------------------------------------------------------------------- 1 | 0.000000 4.000000 0.004000 100.000000 4.000000 0.004000 50.000000 2 | 0.100000 8.000000 0.015980 100.000000 8.000000 0.015980 50.000000 3 | 0.200000 12.000000 0.039900 100.000000 12.000000 0.039900 50.000000 4 | 0.300000 16.000000 0.079701 100.000000 16.000000 0.079701 50.000000 5 | 0.400000 20.000000 0.139302 100.000000 20.000000 0.139302 50.000000 6 | 0.500000 24.000000 0.222606 100.000000 24.000000 0.222606 50.000000 7 | 0.600000 28.000000 0.333493 100.000000 28.000000 0.333493 50.000000 8 | 0.700000 32.000000 0.475825 100.000000 32.000000 0.475825 50.000000 9 | 0.800000 36.000000 0.653446 100.000000 36.000000 0.653446 50.000000 10 | 0.900000 40.000000 0.870179 100.000000 40.000000 0.870179 50.000000 11 | 1.000000 44.000000 1.129828 100.000000 44.000000 1.129828 50.000000 12 | 1.100000 48.000000 1.436179 100.000000 48.000000 1.436179 50.000000 13 | 1.200000 52.000000 1.792998 100.000000 52.000000 1.792998 50.000000 14 | 1.300000 56.000000 2.204033 100.000000 56.000000 2.204033 50.000000 15 | 1.400000 60.000000 2.673013 100.000000 60.000000 2.673013 50.000000 16 | 1.500000 64.000000 3.203648 100.000000 64.000000 3.203648 50.000000 17 | 1.600000 68.000000 3.799629 100.000000 68.000000 3.799629 50.000000 18 | 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