update

AutomaticControl/AutomaticController/PIDController.cs

@@ -6,7 +6,7 @@ using System.Threading.Tasks;
 
 namespace AutomaticController
 {
-    public class PIDController : IAutomaticController
+    public class PIDController
     {
         public double Kp { get; set; }
         public double Ki { get; set; }
@@ -25,11 +25,11 @@ namespace AutomaticController
             _integralError = 0;
         }
 
-        public double Compute(double setpoint, double processVariable)
+        public double Compute(double setpoint, double actualValue, double deltaTime = 0.01)
         {
-            double error = setpoint - processVariable;
+            double error = setpoint - actualValue;
-            _integralError += error;
+            _integralError += error * deltaTime;
-            double derivative = error - _prevError;
+            double derivative = (error - _prevError) / deltaTime;
 
             double output = Kp * error + Ki * _integralError + Kd * derivative;
 

AutomaticControl/Simulator/ViewModels/FixedSetpointPIDViewModel.cs

@@ -34,13 +34,13 @@ namespace Simulator.ViewModels
         [ObservableProperty]
         private double _kd;
 
-
+        private readonly int SIMULATION_STEP = 200;
 
         public FixedSetpointPIDViewModel()
         {
-            Kp = 0.5;
+            Kp = 0.1;
-            Ki = 0.1;
+            Ki = 0.0;
-            Kd = 0.2;
+            Kd = 0.0;
 
             SetpointModel = new FixedPIDSetpointModel()
             {
@@ -84,7 +84,7 @@ namespace Simulator.ViewModels
 
             InsertData(SetpointModel.Setpoint, 0d);
 
-            for (int i = 0; i < 100; i++)
+            for (int i = 0; i < SIMULATION_STEP; i++)
             {
                 double current = ProcessHistory.LastOrDefault();
                 double output = SetpointModel.Controller.Compute(SetpointModel.Setpoint, current);

AutomaticControl/Simulator/ViewModels/MovingSetpointPIDViewModel.cs

@@ -20,13 +20,16 @@ namespace Simulator.ViewModels
         private MovingPIDSetpointModel _setpointModel;
 
         [ObservableProperty]
-        private ObservableCollection<double> _processHistory;
+        private ObservableCollection<double> _processHistoryCollection;
         [ObservableProperty]
-        private ObservableCollection<double> _setpointHistory;
+        private ObservableCollection<double> _setpointHistoryCollection;
 
         [ObservableProperty]
         private SeriesCollection _series;
 
+        private List<double> _processHistoryList;
+        private List<double> _setpointHistoryList;
+
 
         [ObservableProperty]
         private double _kp;
@@ -35,14 +38,14 @@ namespace Simulator.ViewModels
         [ObservableProperty]
         private double _kd;
 
-        private readonly int SIMULATION_COUNT = 200;
+        private readonly int SIMULATION_STEP = 1000;
 
 
         public MovingSetpointPIDViewModel()
         {
-            Kp = 0.5;
+            Kp = 0.1;
-            Ki = 0.1;
+            Ki = 0.0;
-            Kd = 0.2;
+            Kd = 0.0;
 
             SetpointModel = new MovingPIDSetpointModel()
             {
@@ -51,14 +54,17 @@ namespace Simulator.ViewModels
             };
 
             // Generate setpoints
-            for (int i = 0; i < SIMULATION_COUNT; i++)
+            for (int i = 0; i < SIMULATION_STEP; i++)
             {
                 double cos = Math.Cos(0.5 / (2 * Math.PI) * i);
                 SetpointModel.Setpoints.Add(cos);
             }
 
-            ProcessHistory = new ObservableCollection<double>();
+            _processHistoryList = new List<double>();
-            SetpointHistory = new ObservableCollection<double>();
+            _setpointHistoryList = new List<double>();
+
+            ProcessHistoryCollection = new ObservableCollection<double>();
+            SetpointHistoryCollection = new ObservableCollection<double>();
             Series = new SeriesCollection()
             {
                 new LineSeries()
@@ -86,30 +92,39 @@ namespace Simulator.ViewModels
             SetpointModel.Controller.Ki = Ki;
             SetpointModel.Controller.Kd = Kd;
 
-            ProcessHistory.Clear();
+            _processHistoryList.Clear();
-            SetpointHistory.Clear();
+            _setpointHistoryList.Clear();
-            Series[0].Values.Clear();
-            Series[1].Values.Clear();
 
             InsertData(SetpointModel.Setpoints[0], 0d);
 
-            for (int i = 1; i < SIMULATION_COUNT; i++)
+            for (int i = 1; i < SIMULATION_STEP; i++)
             {
-                double current = ProcessHistory.LastOrDefault();
+                double current = _processHistoryList.LastOrDefault();
                 double output = SetpointModel.Controller.Compute(SetpointModel.Setpoints[i], current);
                 double actual = current + output;
 
+                if (!double.IsNormal(SetpointModel.Setpoints[i]) || !double.IsNormal(actual))
+                    continue;
+
                 InsertData(SetpointModel.Setpoints[i], actual);
             }
+
+            Series[0].Values.Clear();
+            Series[1].Values.Clear();
+
+            Series[0].Values = new ChartValues<double>(_processHistoryList);
+            Series[1].Values = new ChartValues<double>(_setpointHistoryList);
         }
 
         private void InsertData(double setpoint, double actual)
         {
-            Series[1].Values.Add(setpoint);
+            if (double.IsNaN(setpoint))
-            Series[0].Values.Add(actual);
+                return;
+            if (double.IsNaN(actual))
+                return;
 
-            SetpointHistory.Add(setpoint);
+            _setpointHistoryList.Add(setpoint);
-            ProcessHistory.Add(actual);
+            _processHistoryList.Add(actual);
         }
     }
 }

AutomaticControl/Simulator/Views/MovingSetpointPIDView.xaml

@@ -19,7 +19,7 @@
             <RowDefinition Height="*" />
             <RowDefinition Height="Auto" />
         </Grid.RowDefinitions>
-        <lvc:CartesianChart LegendLocation="Bottom" Series="{Binding Series}"/>
+        <lvc:CartesianChart LegendLocation="Bottom" Series="{Binding Series, Mode=OneWay}" DisableAnimations="True"/>
         <StackPanel Grid.Row="1" Orientation="Horizontal">
             <Label Content="Kp" />
             <TextBox Width="50"