pid controller

AutomaticControl/AutomaticControl.sln

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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.9.34728.123
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AutomaticController", "AutomaticController\AutomaticController.csproj", "{F16FE10F-A3FA-4566-8DE9-B42708CE7BC9}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Simulator", "Simulator\Simulator.csproj", "{539BBF00-E7DD-42E2-987C-8756642A4EA2}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{F16FE10F-A3FA-4566-8DE9-B42708CE7BC9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{F16FE10F-A3FA-4566-8DE9-B42708CE7BC9}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{F16FE10F-A3FA-4566-8DE9-B42708CE7BC9}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{F16FE10F-A3FA-4566-8DE9-B42708CE7BC9}.Release|Any CPU.Build.0 = Release|Any CPU
+		{539BBF00-E7DD-42E2-987C-8756642A4EA2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{539BBF00-E7DD-42E2-987C-8756642A4EA2}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{539BBF00-E7DD-42E2-987C-8756642A4EA2}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{539BBF00-E7DD-42E2-987C-8756642A4EA2}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {5A0745B4-0117-4796-93E9-B17323D15F92}
+	EndGlobalSection
+EndGlobal

AutomaticControl/AutomaticController/AutomaticController.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+</Project>

AutomaticControl/AutomaticController/IAutomaticController.cs

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+namespace AutomaticController
+{
+    public interface IAutomaticController
+    {
+        double Compute(double setpoint, double processVariable);
+    }
+}

AutomaticControl/AutomaticController/PIDController.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AutomaticController
+{
+    public class PIDController : IAutomaticController
+    {
+        public double Kp { get; set; }
+        public double Ki { get; set; }
+        public double Kd { get; set; }
+
+        private double _prevError;
+        private double _integralError;
+
+        public PIDController(double kp, double ki, double kd)
+        {
+            Kp = kp;
+            Ki = ki;
+            Kd = kd;
+
+            _prevError = 0;
+            _integralError = 0;
+        }
+
+        public double Compute(double setpoint, double processVariable)
+        {
+            double error = setpoint - processVariable;
+            _integralError += error;
+            double derivative = error - _prevError;
+
+            double output = Kp * error + Ki * _integralError + Kd * derivative;
+
+            _prevError = error;
+
+            return output;
+        }
+    }
+}

AutomaticControl/Simulator/App.xaml

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+<Application x:Class="Simulator.App"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:local="clr-namespace:Simulator"
+             StartupUri="MainWindow.xaml">
+    <Application.Resources>
+         
+    </Application.Resources>
+</Application>

AutomaticControl/Simulator/App.xaml.cs

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+using System.Configuration;
+using System.Data;
+using System.Windows;
+
+namespace Simulator
+{
+    /// <summary>
+    /// Interaction logic for App.xaml
+    /// </summary>
+    public partial class App : Application
+    {
+    }
+
+}

AutomaticControl/Simulator/AssemblyInfo.cs

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+using System.Windows;
+
+[assembly: ThemeInfo(
+    ResourceDictionaryLocation.None,            //where theme specific resource dictionaries are located
+                                                //(used if a resource is not found in the page,
+                                                // or application resource dictionaries)
+    ResourceDictionaryLocation.SourceAssembly   //where the generic resource dictionary is located
+                                                //(used if a resource is not found in the page,
+                                                // app, or any theme specific resource dictionaries)
+)]

AutomaticControl/Simulator/MainWindow.xaml

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+<Window x:Class="Simulator.MainWindow"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:local="clr-namespace:Simulator"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        Title="MainWindow"
+        Width="800"
+        Height="450"
+        mc:Ignorable="d">
+    <Frame NavigationUIVisibility="Hidden"
+           Source="/Views/FixedSetpointPIDView.xaml">
+    </Frame>
+</Window>

AutomaticControl/Simulator/MainWindow.xaml.cs

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+using System.Text;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Simulator
+{
+    /// <summary>
+    /// Interaction logic for MainWindow.xaml
+    /// </summary>
+    public partial class MainWindow : Window
+    {
+        public MainWindow()
+        {
+            InitializeComponent();
+        }
+    }
+}

AutomaticControl/Simulator/Models/FixedPIDSetpointModel.cs

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+using AutomaticController;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Simulator.Models
+{
+    internal class FixedPIDSetpointModel
+    {
+        public double Setpoint { get; set; }
+
+        public PIDController Controller { get; set; }
+    }
+}

AutomaticControl/Simulator/Simulator.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>WinExe</OutputType>
+    <TargetFramework>net6.0-windows</TargetFramework>
+    <Nullable>enable</Nullable>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <UseWPF>true</UseWPF>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="CommunityToolkit.Mvvm" Version="8.2.2" />
+    <PackageReference Include="LiveCharts.Wpf.NetCore3" Version="0.9.8" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\AutomaticController\AutomaticController.csproj" />
+  </ItemGroup>
+
+</Project>

AutomaticControl/Simulator/ViewModels/FixedSetpointPIDViewModel.cs

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+using AutomaticController;
+using CommunityToolkit.Mvvm.ComponentModel;
+using CommunityToolkit.Mvvm.Input;
+using LiveCharts;
+using LiveCharts.Wpf;
+using Simulator.Models;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Simulator.ViewModels
+{
+    internal partial class FixedSetpointPIDViewModel : ObservableObject
+    {
+        [ObservableProperty]
+        private FixedPIDSetpointModel _setpointModel;
+
+        [ObservableProperty]
+        private ObservableCollection<double> _processHistory;
+        [ObservableProperty]
+        private ObservableCollection<double> _setpointHistory;
+
+        [ObservableProperty]
+        private SeriesCollection _series;
+
+
+        [ObservableProperty]
+        private double _kp;
+        [ObservableProperty]
+        private double _ki;
+        [ObservableProperty]
+        private double _kd;
+
+
+
+        public FixedSetpointPIDViewModel()
+        {
+            Kp = 0.5;
+            Ki = 0.1;
+            Kd = 0.2;
+
+            SetpointModel = new FixedPIDSetpointModel()
+            {
+                Setpoint = 50,
+                Controller = new PIDController(Kp, Kd, Ki)
+            };
+
+            ProcessHistory = new ObservableCollection<double>();
+            SetpointHistory = new ObservableCollection<double>();
+            Series = new SeriesCollection()
+            {
+                new LineSeries()
+                {
+                    Title = "Actual",
+                    Values = new ChartValues<double>()
+                },
+                new LineSeries()
+                {
+                    Title = "Setpoint",
+                    Values = new ChartValues<double>()
+                },
+            };
+#if DEBUG
+            Simulate();
+#endif
+        }
+
+        [RelayCommand]
+        public void Simulate()
+        {
+            SetpointModel.Controller.Kp = Kp;
+            SetpointModel.Controller.Ki = Ki;
+            SetpointModel.Controller.Kd = Kd;
+
+            ProcessHistory.Clear();
+            SetpointHistory.Clear();
+            Series[0].Values.Clear();
+            Series[1].Values.Clear();
+
+            InsertData(SetpointModel.Setpoint, 0d);
+
+            for (int i = 0; i < 100; i++)
+            {
+                double current = ProcessHistory.LastOrDefault();
+                double output = SetpointModel.Controller.Compute(SetpointModel.Setpoint, current);
+                double actual = current + output;
+
+                InsertData(SetpointModel.Setpoint, actual);
+            }
+        }
+
+        private void InsertData(double setpoint, double actual)
+        {
+            Series[1].Values.Add(setpoint);
+            Series[0].Values.Add(actual);
+
+            SetpointHistory.Add(SetpointModel.Setpoint);
+            ProcessHistory.Add(actual);
+        }
+    }
+}

AutomaticControl/Simulator/Views/FixedSetpointPIDView.xaml

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+<Page x:Class="Simulator.Views.FixedSetpointPIDView"
+      xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+      xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+      xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+      xmlns:local="clr-namespace:Simulator.Views"
+      xmlns:lvc="clr-namespace:LiveCharts.Wpf;assembly=LiveCharts.Wpf"
+      xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+      xmlns:viewModels="clr-namespace:Simulator.ViewModels"
+      Title="FixedSetpointPIDView"
+      d:DesignHeight="450"
+      d:DesignWidth="800"
+      mc:Ignorable="d">
+    <Page.DataContext>
+        <viewModels:FixedSetpointPIDViewModel />
+    </Page.DataContext>
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*" />
+            <RowDefinition Height="Auto" />
+        </Grid.RowDefinitions>
+        <lvc:CartesianChart LegendLocation="Bottom" Series="{Binding Series}" />
+        <StackPanel Grid.Row="1" Orientation="Horizontal">
+            <Label Content="Kp" />
+            <TextBox Width="50"
+                     HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
+                     Text="{Binding Kp}" />
+            <Label Content="Ki" />
+            <TextBox Width="50"
+                     HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
+                     Text="{Binding Ki}" />
+
+            <Label Content="Kd" />
+            <TextBox Width="50"
+                     HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
+                     Text="{Binding Kd}" />
+
+            <Button Command="{Binding SimulateCommand}" Content="Simulate" Margin="20 0 0 0" />
+        </StackPanel>
+    </Grid>
+</Page>

AutomaticControl/Simulator/Views/FixedSetpointPIDView.xaml.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Simulator.Views
+{
+    /// <summary>
+    /// FixedSetpointPIDView.xaml에 대한 상호 작용 논리
+    /// </summary>
+    public partial class FixedSetpointPIDView : Page
+    {
+        public FixedSetpointPIDView()
+        {
+            InitializeComponent();
+        }
+    }
+}