PID Controller & Filter

General purpose PID controller with sensor filter

Pins

[table] [tr] [th]d0[/th] [th]Sensor[/th] [th]Device to read Process value from[/th] [/tr] [tr] [th]d1[/th] [th]Actuator[/th] [th](optional) Device to control[/th] [/tr] [tr] [th]d2[/th] [th]SleepToggle[/th] [th](optional) Device to toggle controller sleep[/th] [/tr] [tr] [th]d3[/th] [th]SPDevice[/th] [th](optional) Device to easily change setpoint[/th] [/tr] [/table]

System variables

SetPoint: Desired target for the controller. Not used if you have set SPdevice. Min/Max output: Upper and lower limits on the output of the controller. FilterTicks: The number of ticks the controller should take an average of the sensor readings. SPDeviceMultiplier: Simply a number that is multiplied with SPdevice readout if used.

Tuning

RegulatorMode: can be either 1 (direct) or -1 (reversed). If your ProcessValue is higher than setpoint, should your actuator:

• Increase: Direct mode (1)
• Decrease: Reverse mode (-1)

In order to tune the controller, start with Ti and Td at zero. Find the highest Kp value that gives stable oscillation without reaching max or min, called Ku. Take not of the oscillation period (time between peeks) Tu. You can then calculate your variables based on desired behavior: [table] [tr] [th]Control Type[/th] [th]Kp[/th] [th]Ti[/th] [th]Td[/th] [/tr] [tr] [td]PI[/td] [td]0.45 * Ku[/td] [td]0.8 * Tu[/td] [td]0[/td] [/tr] [tr] [td]classic PID[/td] [td]0.6 * Ku[/td] [td]0.5 * Tu[/td] [td]0.125 * Tu[/td] [/tr] [tr] [td]no overshoot[/td] [td]0.2 * Ku[/td] [td]0.5 * Tu[/td] [td]0.33 * Tu[/td] [/tr] [/table]

See https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method and don't be afraid to tinker with the values and see it's behavior change.

Example world: Europa: https://steamcommunity.com/sharedfiles/filedetails/?id=2394680235 Mars: https://steamcommunity.com/sharedfiles/filedetails/?id=2394680007 Moon: https://steamcommunity.com/sharedfiles/filedetails/?id=2394679313

AC example world: https://steamcommunity.com/sharedfiles/filedetails/?id=2488371541