PID / manage_heater
PSD regulator improvement
This commit is contained in:
parent
4e300fd552
commit
d9f8e4eb9e
3 changed files with 49 additions and 34 deletions
|
@ -131,8 +131,10 @@
|
|||
//#define PID_DEBUG // Sends debug data to the serial port.
|
||||
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
|
||||
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
|
||||
// :-O :-O :-O
|
||||
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
|
||||
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
|
||||
// :-O :-O :-O
|
||||
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
|
||||
#define K1 0.95 //smoothing factor within the PID
|
||||
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
|
||||
|
|
|
@ -106,15 +106,15 @@ static volatile bool temp_meas_ready = false;
|
|||
|
||||
#ifdef PIDTEMP
|
||||
//static cannot be external:
|
||||
static float temp_iState[EXTRUDERS] = { 0 };
|
||||
static float temp_dState[EXTRUDERS] = { 0 };
|
||||
static float iState_sum[EXTRUDERS] = { 0 };
|
||||
static float dState_last[EXTRUDERS] = { 0 };
|
||||
static float pTerm[EXTRUDERS];
|
||||
static float iTerm[EXTRUDERS];
|
||||
static float dTerm[EXTRUDERS];
|
||||
//int output;
|
||||
static float pid_error[EXTRUDERS];
|
||||
static float temp_iState_min[EXTRUDERS];
|
||||
static float temp_iState_max[EXTRUDERS];
|
||||
static float iState_sum_min[EXTRUDERS];
|
||||
static float iState_sum_max[EXTRUDERS];
|
||||
// static float pid_input[EXTRUDERS];
|
||||
// static float pid_output[EXTRUDERS];
|
||||
static bool pid_reset[EXTRUDERS];
|
||||
|
@ -418,7 +418,7 @@ void updatePID()
|
|||
{
|
||||
#ifdef PIDTEMP
|
||||
for(int e = 0; e < EXTRUDERS; e++) {
|
||||
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
|
||||
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
|
||||
}
|
||||
#endif
|
||||
#ifdef PIDTEMPBED
|
||||
|
@ -587,6 +587,10 @@ void checkExtruderAutoFans()
|
|||
|
||||
#endif // any extruder auto fan pins set
|
||||
|
||||
void resetPID(uint8_t extruder) // ready for eventually parameters adjusting
|
||||
{
|
||||
}
|
||||
|
||||
void manage_heater()
|
||||
{
|
||||
#ifdef WATCHDOG
|
||||
|
@ -598,6 +602,7 @@ void manage_heater()
|
|||
|
||||
if(temp_meas_ready != true) //better readability
|
||||
return;
|
||||
// more precisely - this condition partially stabilizes time interval for regulation values evaluation (@ ~ 230ms)
|
||||
|
||||
updateTemperaturesFromRawValues();
|
||||
|
||||
|
@ -619,38 +624,42 @@ void manage_heater()
|
|||
pid_input = current_temperature[e];
|
||||
|
||||
#ifndef PID_OPENLOOP
|
||||
pid_error[e] = target_temperature[e] - pid_input;
|
||||
if(pid_error[e] > PID_FUNCTIONAL_RANGE) {
|
||||
pid_output = BANG_MAX;
|
||||
pid_reset[e] = true;
|
||||
}
|
||||
else if(pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
|
||||
if(target_temperature[e] == 0) {
|
||||
pid_output = 0;
|
||||
pid_reset[e] = true;
|
||||
}
|
||||
else {
|
||||
if(pid_reset[e] == true) {
|
||||
temp_iState[e] = 0.0;
|
||||
} else {
|
||||
pid_error[e] = target_temperature[e] - pid_input;
|
||||
if(pid_reset[e]) {
|
||||
iState_sum[e] = 0.0;
|
||||
dTerm[e] = 0.0; // 'dState_last[e]' initial setting is not necessary (see end of if-statement)
|
||||
pid_reset[e] = false;
|
||||
}
|
||||
#ifndef PonM
|
||||
pTerm[e] = cs.Kp * pid_error[e];
|
||||
temp_iState[e] += pid_error[e];
|
||||
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
|
||||
iTerm[e] = cs.Ki * temp_iState[e];
|
||||
|
||||
//K1 defined in Configuration.h in the PID settings
|
||||
iState_sum[e] += pid_error[e];
|
||||
iState_sum[e] = constrain(iState_sum[e], iState_sum_min[e], iState_sum_max[e]);
|
||||
iTerm[e] = cs.Ki * iState_sum[e];
|
||||
// K1 defined in Configuration.h in the PID settings
|
||||
#define K2 (1.0-K1)
|
||||
dTerm[e] = (cs.Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
|
||||
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
|
||||
dTerm[e] = (cs.Kd * (pid_input - dState_last[e]))*K2 + (K1 * dTerm[e]); // e.g. digital filtration of derivative term changes
|
||||
pid_output = pTerm[e] + iTerm[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
|
||||
if (pid_output > PID_MAX) {
|
||||
if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
|
||||
if (pid_error[e] > 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
|
||||
pid_output=PID_MAX;
|
||||
} else if (pid_output < 0){
|
||||
if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
|
||||
} else if (pid_output < 0) {
|
||||
if (pid_error[e] < 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
|
||||
pid_output=0;
|
||||
}
|
||||
#else // PonM ("Proportional on Measurement" method)
|
||||
iState_sum[e] += cs.Ki * pid_error[e];
|
||||
iState_sum[e] -= cs.Kp * (pid_input - dState_last[e]);
|
||||
iState_sum[e] = constrain(iState_sum[e], 0, PID_INTEGRAL_DRIVE_MAX);
|
||||
dTerm[e] = cs.Kd * (pid_input - dState_last[e]);
|
||||
pid_output = iState_sum[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
|
||||
pid_output = constrain(pid_output, 0, PID_MAX);
|
||||
#endif // PonM
|
||||
}
|
||||
temp_dState[e] = pid_input;
|
||||
dState_last[e] = pid_input;
|
||||
#else
|
||||
pid_output = constrain(target_temperature[e], 0, PID_MAX);
|
||||
#endif //PID_OPENLOOP
|
||||
|
@ -667,7 +676,7 @@ void manage_heater()
|
|||
SERIAL_ECHO(" iTerm ");
|
||||
SERIAL_ECHO(iTerm[e]);
|
||||
SERIAL_ECHO(" dTerm ");
|
||||
SERIAL_ECHOLN(dTerm[e]);
|
||||
SERIAL_ECHOLN(-dTerm[e]);
|
||||
#endif //PID_DEBUG
|
||||
#else /* PID off */
|
||||
pid_output = 0;
|
||||
|
@ -677,16 +686,14 @@ void manage_heater()
|
|||
#endif
|
||||
|
||||
// Check if temperature is within the correct range
|
||||
if(current_temperature[e] < maxttemp[e])
|
||||
if((current_temperature[e] < maxttemp[e]) && (target_temperature[e] != 0))
|
||||
{
|
||||
soft_pwm[e] = (int)pid_output >> 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
{
|
||||
soft_pwm[e] = 0;
|
||||
}
|
||||
if(target_temperature[e]==0)
|
||||
soft_pwm[e] = 0;
|
||||
|
||||
#ifdef WATCH_TEMP_PERIOD
|
||||
if(watchmillis[e] && millis() - watchmillis[e] > WATCH_TEMP_PERIOD)
|
||||
|
@ -1001,8 +1008,8 @@ void tp_init()
|
|||
// populate with the first value
|
||||
maxttemp[e] = maxttemp[0];
|
||||
#ifdef PIDTEMP
|
||||
temp_iState_min[e] = 0.0;
|
||||
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
|
||||
iState_sum_min[e] = 0.0;
|
||||
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
|
||||
#endif //PIDTEMP
|
||||
#ifdef PIDTEMPBED
|
||||
temp_iState_min_bed = 0.0;
|
||||
|
|
|
@ -87,6 +87,8 @@ extern int current_voltage_raw_bed;
|
|||
extern volatile int babystepsTodo[3];
|
||||
#endif
|
||||
|
||||
void resetPID(uint8_t extruder);
|
||||
|
||||
inline void babystepsTodoZadd(int n)
|
||||
{
|
||||
if (n != 0) {
|
||||
|
@ -137,11 +139,15 @@ FORCE_INLINE float degTargetBed() {
|
|||
|
||||
FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
|
||||
target_temperature[extruder] = celsius;
|
||||
resetPID[extruder];
|
||||
};
|
||||
|
||||
static inline void setTargetHotendSafe(const float &celsius, uint8_t extruder)
|
||||
{
|
||||
if (extruder<EXTRUDERS) target_temperature[extruder] = celsius;
|
||||
if (extruder<EXTRUDERS) {
|
||||
target_temperature[extruder] = celsius;
|
||||
resetPID[extruder];
|
||||
}
|
||||
}
|
||||
|
||||
static inline void setAllTargetHotends(const float &celsius)
|
||||
|
|
Loading…
Reference in a new issue