https://github.com/philmod/node-pid-controller

Node.js PID controller
https://github.com/philmod/node-pid-controller

Last synced: 6 days ago
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Node.js PID controller

• Host: GitHub
• URL: https://github.com/philmod/node-pid-controller
• Owner: Philmod
• Created: 2013-06-14T06:29:12.000Z (over 11 years ago)
• Default Branch: main
• Last Pushed: 2024-02-24T08:27:15.000Z (11 months ago)
• Last Synced: 2024-12-29T12:12:40.667Z (13 days ago)
• Language: JavaScript
• Size: 34.2 KB
• Stars: 126
• Watchers: 11
• Forks: 26
• Open Issues: 5
• Metadata Files:
  • Readme: README.md

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README

        
# node-pid-controller

Simple Node.js PID controller.

![pid](http://upload.wikimedia.org/wikipedia/commons/9/91/PID_en_updated_feedback.svg)

## Installation

```

$ npm install node-pid-controller

```

## Example

Let's take the example of a car cruise control. We want the car driving at 120km/h.

### Create a Controller instance

`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.

```js

let Controller = require('node-pid-controller');

let ctr = new Controller({

  k_p: 0.25,

  k_i: 0.01,

  k_d: 0.01,

  dt: 1

});

```

You can also pass options as arguments:

```js

let ctr = new Controller(0.25, 0.01, 0.01, 1); // k_p, k_i, k_d, dt

```

### Set the target

```js

ctr.setTarget(120); // 120km/h

```

### Get the correction

```js

let correction = ctr.update(110); // 110km/h is the current speed

```

### Real example

Normally, you use the correction to a measure, in a closed loop.

```js

let goalReached = false

while (!goalReached) {

  let output = measureFromSomeSensor();

  let input  = ctr.update(output);

  applyInputToActuator(input);

  goalReached = (input === 0); // in the case of continuous control, you let this variable 'false'

}

```

## Options

* `k_p`, `k_i`, `k_d`: the PID's coefficients

* `dt`: interval of time (in seconds) between two measures. If not provided, it will be automatically calculated.

* `i_max`: the maximum absolute value of the integral term (optional)

## Test

```js

mocha test

```

## Author

Philmod <[email protected]>