pid regulator demo

pid_streamlit.py

# run streamlit run pid_streamlit.py
# matplotlib==3.7.1
# streamlit==1.43.2
import matplotlib.pyplot as plt
import streamlit as st


class PidController:
    def __init__(self, ki=1, kp=1, kd=1, target=0):
        self.ki = ki
        self.kp = kp
        self.kd = kd
        self.integral = 0.0
        self.prev_error = 0.0

    def get_correction(self, error, dt=1.0) -> float:
        self.integral += error * dt

        derivative = (error - self.prev_error) / dt
        correction = self.kp * error + self.ki * self.integral + self.kd * derivative
        self.prev_error = error
        return correction


def simulate(
    kp=0.2,
    ki=0.1,
    kd=0.05,
    target_price=100,
    initial_price=90,
    time_steps=20,
):
    pid = PidController(kp, ki, kd)

    prices = []
    errors = []
    price = initial_price
    for i in range(time_steps):
        error = target_price - price
        price += pid.get_correction(error)

        errors.append(error)
        prices.append(price)

    return prices, errors


def main():
    st.title("Демонстрация ПИД-регулятора (формирование цены)")

    st.sidebar.header("Настройки ПИД:")
    # Ползунки для KP, KI, KD
    kp = st.sidebar.slider("Kp (пропорц.)", 0.0, 2.0, 0.5, 0.05)
    ki = st.sidebar.slider("Ki (интегр.)", 0.0, 0.5, 0.1, 0.01)
    kd = st.sidebar.slider("Kd (дифф.)", 0.0, 0.3, 0.05, 0.01)

    time_steps = st.sidebar.slider("Количество шагов", 1, 50, 20)

    prices, errors = simulate(kp, ki, kd, time_steps=time_steps)

    st.subheader("Динамика цены на каждом шаге")
    fig, ax = plt.subplots()
    ax.plot(range(time_steps), prices, marker="o", label="Price")
    ax.set_xlabel("Шаг")
    ax.set_ylabel("Цена")
    ax.set_title("Цена vs Шаги")
    ax.legend()
    st.pyplot(fig)

    st.subheader("Ошибка (целевая цена - фактическая)")
    fig2, ax2 = plt.subplots()
    ax2.plot(range(time_steps), errors, marker="o", label="Error", color="red")
    ax2.set_xlabel("Шаг")
    ax2.set_ylabel("Ошибка")
    ax2.set_title("Ошибка vs Шаги")
    ax2.legend()
    st.pyplot(fig2)


if __name__ == "__main__":
    main()