def pid_pg_comb(set_point, *, Kp, Ki, Kd, Nfilt, plant):
pid = pidtf(Kp, Ki, Kd, Nfilt)
plant_out = Intf(Float)
pid_in = set_point - plant_out
pid_out = pid_in \
| lti(name='pid', sys=pid, init_x=0)
plant_out |= pid_out \
| lti(name='plant', sys=plant, init_x=0)
return plant_out
def pid_lti_feedback(set_point, *, Kp, Ki, Kd, Nfilt, plant):
pid = pidtf(Kp, Ki, Kd, Nfilt)
plant = tf([1], [1, 10, 20])
sys = feedback(pid * plant)
return set_point | lti(sys=sys, init_x=0)
def test_rc():
R = 100
C = 1e-6
clk_freq = 1e6 # Hz
seq = [1] * 1000 + [0] * 1000
drv(t=Float, seq=seq) \
| lti(num=[1], den=[R*C, 1], init_x=0, clk_freq=clk_freq) \
| scope
sim(timeout=len(seq))
def pid_lti_comb(set_point, *, Kp, Ki, Kd, Nfilt, plant):
pid = pidtf(Kp, Ki, Kd, Nfilt)
sys = plant * pid
plant_out = Intf(Float)
pid_in = set_point - plant_out
plant_out |= pid_in \
| lti(sys=sys, init_x=0) \
return plant_out
def test_pid():
Kp = 350
Ki = 300
Kd = 50
clk_freq = 10 # Hz
seq = [1.] * 500 + [0.] * 500
drv(t=Float, seq=seq) \
| lti(num=[Kd, Kp, Ki], den=[1, (10 + Kd), (20 + Kp), Ki], init_x=0, clk_freq=clk_freq) \
| scope
sim(timeout=len(seq))
def hdl_pid_sys(set_point, *, Kp, Ki, Kd, plant):
plant_out = Intf(Float)
pid_in = set_point - plant_out
pid_in | scope(title="PID Input")
pid_in = pid_in | Fixp[2, 22]
pid_out = pid_in | hdl_pid(Kp=Kp, Ki=Ki, Kd=Kd, sim_cls=SimVerilated)
pid_out = pid_out | Float
plant_out |= pid_out \
| lti(name='plant', sys=plant, init_x=0)
return plant_out