simple-pid 0.1.5

A simple, easy to use PID controller

simple-pid

A simple and easy to use PID controller in Python. If you want a PID controller without external dependencies that just works, this is for you! The PID was designed to be robust with help from Brett Beauregards guide.

Usage is very simple:

from simple_pid import PID
pid = PID(1, 0.1, 0.05, setpoint=1)

# assume we have a system we want to control in controlled_system
v = controlled_system.update(0)

while True:
    # compute new ouput from the PID according to the systems current value
    control = pid(v)

    # feed the PID output to the system and get its current value
    v = controlled_system.update(control)

Complete API documentation can be found here.

Installation

To install, run:

pip install simple-pid

Usage

The PID class implements __call__(), which means that to compute a new output value, you simply call the object like this:

output = pid(current_value)

The PID works best when it is updated at regular intervals. To achieve this, set sample_time to the amount of time there should be between each update and then call the PID every time in the program loop. A new output will only be calculated when sample_time seconds has passed:

pid.sample_time = 0.01  # update every 0.01 seconds

while True:
    output = pid(current_value)

To set the setpoint, ie. the value that the PID is trying to achieve, simply set it like this:

pid.setpoint = 10

The tunings can be changed any time when the PID is running. They can either be set individually or all at once:

pid.Ki = 1.0
pid.tunings = (1.0, 0.2, 0.4)

To disable the PID so that no new values are computed, set auto mode to False:

pid.auto_mode = False  # no new values will be computed when pid is called
pid.auto_mode = True   # pid is enabled again

In order to get output values in a certain range, and also to avoid integral windup (since the integral term will never be allowed to grow outside of these limits), the output can be limited to a range:

pid.output_limits = (0, 10)    # output value will be between 0 and 10
pid.output_limits = (0, None)  # output will always be above 0, but with no upper bound

To eliminate overshoot in certain types of systems, you can calculate the proportional term directly on the measurement instead of the error. This can be enabled like this:

pid.proportional_on_measurement = True

Tests

Use the following to run tests:

tox

License

Licensed under the MIT License.