https://github.com/philmod/node-pid-controller
Node.js PID controller
https://github.com/philmod/node-pid-controller
Last synced: about 2 months 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 (about 12 years ago)
- Default Branch: main
- Last Pushed: 2025-02-19T16:31:08.000Z (5 months ago)
- Last Synced: 2025-05-16T02:06:44.333Z (about 2 months ago)
- Language: JavaScript
- Size: 44.9 KB
- Stars: 127
- Watchers: 10
- Forks: 26
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
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README
# node-pid-controller
Simple Node.js PID controller.
## 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]>