PymateIO-PID-controler

Software PID

The PymateIO includes the PID class (pid library).

The PID controler do use a Timer to perform its treatments (it is an autonomous process).

As for each PID Controller, the following parameter are required:

• Kp : Proportional constant
• Ki : Integral constant
• Kd : Derivated constant

The software controller requires additional parameters:

• dt: time (ms) between two consecutive measurement
• measure_func : the function that returns the PID input value.
• output_func : the function(value) called by the PID controler to set the output.
• output_min : minimal value for the output.
• output_max : maximal value for the output.

The PID controller starts when setting the setpoint (see setpoint(value) ) and stop when stop() is called.

This controller have been deployed with success into the Plancha-CMS project.
Do not hesitate to read the test_pid.py of Plancha-CMS for implementation example.

A typical application of PID would be speed regulation:

• Kp, Ki, Kd : to determine
• dt = 100ms
• measurement_func : returns the measured RPM
• output_func : set the PWM duty cycle (in percent) for the motor
• output_min : 0
• output_max : 100

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