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Yurii
240
src/RegulatorTask.h
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240
src/RegulatorTask.h
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#include "lib/Equitherm.h"
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#include <GyverPID.h>
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#include <PIDtuner.h>
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Equitherm etRegulator;
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GyverPID pidRegulator(0, 0, 0, 10000);
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PIDtuner pidTuner;
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class RegulatorTask : public MiniTask {
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public:
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RegulatorTask(bool enabled = false, unsigned long interval = 0) : MiniTask(enabled, interval) {}
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protected:
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bool tunerInit = false;
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byte tunerState = 0;
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float prevHeatingTarget = 0;
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float prevEtResult = 0;
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float prevPidResult = 0;
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void setup() {}
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void loop() {
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byte newTemp;
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if (vars.states.emergency) {
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newTemp = getEmergencyModeTemp();
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} else {
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newTemp = getNormalModeTemp();
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}
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// Ограничиваем, если до этого не ограничило
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if (newTemp < vars.parameters.heatingMinTemp || newTemp > vars.parameters.heatingMaxTemp) {
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newTemp = constrain(newTemp, vars.parameters.heatingMinTemp, vars.parameters.heatingMaxTemp);
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}
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if (abs(vars.parameters.heatingSetpoint - newTemp) + 0.0001 >= 1) {
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vars.parameters.heatingSetpoint = newTemp;
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}
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}
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byte getEmergencyModeTemp() {
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byte newTemp = vars.parameters.heatingSetpoint;
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// if use equitherm
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if (settings.emergency.useEquitherm && settings.outdoorTempSource != 1) {
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etRegulator.Kn = settings.equitherm.n_factor;
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etRegulator.Kk = settings.equitherm.k_factor;
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etRegulator.Kt = 0;
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etRegulator.indoorTemp = 0;
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etRegulator.outdoorTemp = vars.temperatures.outdoor;
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etRegulator.setLimits(vars.parameters.heatingMinTemp, vars.parameters.heatingMaxTemp);
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etRegulator.targetTemp = settings.emergency.target;
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float etResult = etRegulator.getResult();
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if (fabs(prevEtResult - etResult) + 0.0001 >= 1) {
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prevEtResult = etResult;
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newTemp = round(etResult);
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INFO_F("New emergency equitherm result: %u (%f) \n", newTemp, etResult);
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}
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} else {
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// default temp, manual mode
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newTemp = round(settings.emergency.target);
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}
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return newTemp;
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}
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byte getNormalModeTemp() {
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bool updateIntegral = false;
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byte newTemp = vars.parameters.heatingSetpoint;
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if (fabs(prevHeatingTarget - settings.heating.target) > 0.0001) {
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prevHeatingTarget = settings.heating.target;
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updateIntegral = true;
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INFO_F("New heating target: %f \n", settings.heating.target);
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}
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// if use equitherm
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if (settings.equitherm.enable) {
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if (vars.tuning.enable && vars.tuning.regulator == 0) {
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if (settings.pid.enable) {
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settings.pid.enable = false;
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}
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etRegulator.Kn = tuneEquithermN(etRegulator.Kn, vars.temperatures.indoor, settings.heating.target, 300, 1800, 0.01, 1);
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} else {
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etRegulator.Kn = settings.equitherm.n_factor;
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}
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if (settings.pid.enable) {
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etRegulator.Kt = 0;
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etRegulator.indoorTemp = round(vars.temperatures.indoor);
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etRegulator.outdoorTemp = round(vars.temperatures.outdoor);
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} else {
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etRegulator.Kt = settings.equitherm.t_factor;
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etRegulator.indoorTemp = vars.temperatures.indoor;
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etRegulator.outdoorTemp = vars.temperatures.outdoor;
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}
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etRegulator.setLimits(vars.parameters.heatingMinTemp, vars.parameters.heatingMaxTemp);
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etRegulator.Kk = settings.equitherm.k_factor;
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etRegulator.targetTemp = settings.heating.target;
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float etResult = etRegulator.getResult();
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if (fabs(prevEtResult - etResult) + 0.0001 >= 1) {
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prevEtResult = etResult;
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updateIntegral = true;
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newTemp = round(etResult);
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INFO_F("New equitherm result: %u (%f) \n", newTemp, etResult);
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} else {
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updateIntegral = false;
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}
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}
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// if use pid
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if (settings.pid.enable && tunerInit && (!vars.tuning.enable || vars.tuning.regulator != 1)) {
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pidTuner.reset();
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tunerState = 0;
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tunerInit = false;
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INFO(F("Tuning stopped"));
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} else if (settings.pid.enable && vars.tuning.enable && vars.tuning.regulator == 1) {
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if (tunerInit && pidTuner.getState() == 3) {
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INFO(F("Tuning finished"));
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pidTuner.debugText(&INFO_STREAM);
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if (pidTuner.getAccuracy() < 90) {
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WARN(F("Tuning bad result, restart..."));
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} else {
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settings.pid.p_factor = pidTuner.getPID_p();
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settings.pid.i_factor = pidTuner.getPID_i();
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settings.pid.d_factor = pidTuner.getPID_d();
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vars.tuning.enable = false;
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}
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pidTuner.reset();
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tunerState = 0;
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tunerInit = false;
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} else {
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if (!tunerInit) {
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INFO(F("Tuning start"));
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float step;
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if (vars.temperatures.indoor - vars.temperatures.outdoor > 10) {
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step = ceil(vars.parameters.heatingSetpoint / vars.temperatures.indoor * 2);
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} else {
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step = 5.0f;
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}
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float startTemp = newTemp + step;
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if (startTemp >= vars.parameters.heatingMaxTemp) {
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startTemp = vars.parameters.heatingMaxTemp - 10;
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}
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INFO_F("Tuning started. Start temp: %f, step: %f \n", startTemp, step);
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pidTuner.setParameters(NORMAL, startTemp, step, 20 * 60 * 1000, 0.15, 60 * 1000, 10000);
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tunerInit = true;
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}
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pidTuner.setInput(vars.temperatures.indoor);
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pidTuner.compute();
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if (tunerState > 0 && pidTuner.getState() != tunerState) {
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INFO(F("Tuning log:"));
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pidTuner.debugText(&INFO_STREAM);
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tunerState = pidTuner.getState();
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}
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newTemp = round(pidTuner.getOutput());
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}
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}
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if (settings.pid.enable && (!vars.tuning.enable || vars.tuning.enable && vars.tuning.regulator != 1)) {
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if (updateIntegral) {
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pidRegulator.integral = settings.heating.target;
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}
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pidRegulator.Kp = settings.pid.p_factor;
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pidRegulator.Ki = settings.pid.i_factor;
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pidRegulator.Kd = settings.pid.d_factor;
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pidRegulator.setLimits(vars.parameters.heatingMinTemp, vars.parameters.heatingMaxTemp);
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pidRegulator.input = vars.temperatures.indoor;
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pidRegulator.setpoint = settings.heating.target;
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float pidResult = pidRegulator.getResultTimer();
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if (abs(prevPidResult - pidResult) >= 0.5) {
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prevPidResult = pidResult;
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newTemp = round(pidResult);
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INFO_F("New PID result: %u (%f) \n", newTemp, pidResult);
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}
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}
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// default temp, manual mode
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if (!settings.equitherm.enable && !settings.pid.enable) {
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newTemp = round(settings.heating.target);
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}
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return newTemp;
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}
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float tuneEquithermN(float ratio, float currentTemp, float setTemp, unsigned int dirtyInterval = 60, unsigned int accurateInterval = 1800, float accurateStep = 0.01, float accurateStepAfter = 1) {
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static uint32_t _prevIteration = millis();
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if (abs(currentTemp - setTemp) < accurateStepAfter) {
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if (millis() - _prevIteration < (accurateInterval * 1000)) {
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return ratio;
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}
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if (currentTemp - setTemp > 0.1f) {
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ratio -= accurateStep;
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} else if (currentTemp - setTemp < -0.1f) {
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ratio += accurateStep;
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}
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} else {
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if (millis() - _prevIteration < (dirtyInterval * 1000)) {
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return ratio;
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}
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ratio = ratio * (setTemp / currentTemp);
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}
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_prevIteration = millis();
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return ratio;
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}
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};
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