Footurama Package: Controller

This package includes controllers for Footurama.

ftrm-ctrl/pid

A PID controller with anti-windup.

Configuration:

• input:
  • k_p: Proportional gain. Default: 1
  • k_i: Integral gain. Default: 0
  • k_d: Derivative gain. Default: 0
  • u_max: Max control value. Default: Number.MAX_SAFE_INTEGER
  • u_min: Min control value. Default: Number.MIN_SAFE_INTEGER
  • actualValue: Measured process variable. Mandatory.
  • desiredValue: Setpoint for the controller. Mandatory.
• output:
  • controlValue: Control value. Mandatory.
  • summedError: Integrated error for integral component.

Example:

// Control the valve position (0 to 100) of a radiator
// based on the current temperature sensor reading.
module.exports = [require('ftrm-ctrl/pid'), {
	input: {
		k_p: {value: 10},
		k_i: {value: 0.2},
		k_d: {value: 0},
		u_min: {value: 0},
		u_max: {value: 100},
		desiredValue: {value: 21},
		actualValue: {pipe: 'temperatureSensor'}
	},
	output: {
		controlValue: {pipe: 'radiatorValve'}
	}
}];

ftrm-ctrl/bangbang

A bang-bang control. Pretty name, isn't it?

Configuration:

• input:
  • hysteresis: Controller's hysteresis. Default: 0
  • actualValue: Measured process variable. Mandatory.
  • desiredValue: Setpoint for the controller. Mandatory.
• output:
  • controlValue: Boolean control value. Mandatory.
• invert: Invert the output control value.

Example:

// Control the boiler temperture to 60 deg celsius
// based on the current temperature sensor reading.
module.exports = [require('ftrm-ctrl/bangbang'), {
	input: {
		hysteresis: {value: 10},
		desiredValue: {value: 60},
		actualValue: {pipe: 'temperatureSensor'}
	},
	output: {
		controlValue: {pipe: 'boiler'}
	},
	invert: true // Turn the boiler on if the acutalValue is below the desiredValue
}];