30 lines
1.7 KiB
Markdown
30 lines
1.7 KiB
Markdown
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# Proportional-Integral-Derivative
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PID `(Proportional-Integral-Derivative)` is a type of control algorithm commonly used in engineering and industrial applications to regulate a system's output based on its error or deviation from a desired setpoint value. The PID controller works by continuously measuring the system's output and comparing it to the setpoint value. It then uses a combination of proportional, integral, and derivative terms to adjust the system's input in order to minimize the error and bring the system closer to the desired setpoint.
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The proportional term provides a direct relationship between the system's error and the controller's output. The integral term integrates the system's error over time to provide a corrective input that accounts for long-term changes. The derivative term provides a rate of change measurement to account for the system's responsiveness to changes.
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Together, these three terms allow the PID controller to respond quickly to changes in the system's output while also providing stability and minimizing overshoot. PID controllers are commonly used in a variety of applications, such as temperature control in industrial processes, motion control in robotics, and speed control in motors.
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An example algorithm could look like
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```typescript
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function PIDController(Kp: number, Ki: number, Kd: number, setpoint: number, dt: number) {
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let error = 0;
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let integral = 0;
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let derivative = 0;
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let lastError = 0;
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return function update(input: number) {
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error = setpoint - input;
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integral += error * dt;
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derivative = (error - lastError) / dt;
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lastError = error;
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return Kp * error + Ki * integral + Kd * derivative;
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};
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}
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```
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