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feat: added deadband for pid

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This commit is contained in:
Yurii
2025-01-24 01:43:52 +03:00
parent afe710abd3
commit 8475833dce
9 changed files with 201 additions and 16 deletions
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5
src/OpenThermTask.h
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@@ -1062,7 +1062,10 @@ protected:
);
} else {
Log.swarningln(FPSTR(L_OT_HEATING), F("Failed set max heating temp"));
Log.swarningln(
FPSTR(L_OT_HEATING), F("Failed set max heating temp: %.2f (converted: %.2f)"),
vars.master.heating.setpointTemp, convertedTemp
);
}
}

13
src/RegulatorTask.h
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@@ -196,6 +196,7 @@ protected:
//if (vars.parameters.heatingEnabled) {
if (settings.heating.enabled && this->indoorSensorsConnected) {
pidRegulator.Kp = settings.heating.turbo ? 0.0f : settings.pid.p_factor;
pidRegulator.Ki = settings.pid.i_factor;
pidRegulator.Kd = settings.pid.d_factor;
pidRegulator.setLimits(settings.pid.minTemp, settings.pid.maxTemp);
@@ -203,12 +204,22 @@ protected:
pidRegulator.input = vars.master.heating.indoorTemp;
pidRegulator.setpoint = settings.heating.target;
if (fabsf(pidRegulator.Ki - settings.pid.i_factor) >= 0.0001f) {
/*if (fabsf(pidRegulator.Ki - settings.pid.i_factor) >= 0.0001f) {
pidRegulator.Ki = settings.pid.i_factor;
pidRegulator.integral = 0.0f;
pidRegulator.getResultNow();
Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
}*/
float error = pidRegulator.setpoint - pidRegulator.input;
bool hasDeadband = (error > -(settings.pid.deadband.thresholdHigh))
&& (error < settings.pid.deadband.thresholdLow);
if (hasDeadband) {
pidRegulator.Kp *= settings.pid.deadband.p_multiplier;
pidRegulator.Ki *= settings.pid.deadband.i_multiplier;
pidRegulator.Kd *= settings.pid.deadband.d_multiplier;
}
float pidResult = pidRegulator.getResultTimer();

9
src/Settings.h
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@@ -115,6 +115,15 @@ struct Settings {
unsigned short dt = 180;
short minTemp = 0;
short maxTemp = DEFAULT_HEATING_MAX_TEMP;
struct {
bool enabled = false;
float p_multiplier = 1.0f;
float i_multiplier = 0.05f;
float d_multiplier = 0.0f;
float thresholdHigh = 0.5f;
float thresholdLow = 1.0f;
} deadband;
} pid;
struct {

6
src/strings.h
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@@ -63,6 +63,7 @@ const char S_CRASH[] PROGMEM = "crash";
const char S_CURRENT_TEMP[] PROGMEM = "currentTemp";
const char S_DATA[] PROGMEM = "data";
const char S_DATE[] PROGMEM = "date";
const char S_DEADBAND[] PROGMEM = "deadband";
const char S_DHW[] PROGMEM = "dhw";
const char S_DHW_BLOCKING[] PROGMEM = "dhwBlocking";
const char S_DHW_SUPPORT[] PROGMEM = "dhwSupport";
@@ -71,6 +72,7 @@ const char S_DIAG[] PROGMEM = "diag";
const char S_DNS[] PROGMEM = "dns";
const char S_DT[] PROGMEM = "dt";
const char S_D_FACTOR[] PROGMEM = "d_factor";
const char S_D_MULTIPLIER[] PROGMEM = "d_multiplier";
const char S_EMERGENCY[] PROGMEM = "emergency";
const char S_ENABLED[] PROGMEM = "enabled";
const char S_ENV[] PROGMEM = "env";
@@ -108,6 +110,7 @@ const char S_INTERVAL[] PROGMEM = "interval";
const char S_INVERT_STATE[] PROGMEM = "invertState";
const char S_IP[] PROGMEM = "ip";
const char S_I_FACTOR[] PROGMEM = "i_factor";
const char S_I_MULTIPLIER[] PROGMEM = "i_multiplier";
const char S_K_FACTOR[] PROGMEM = "k_factor";
const char S_LOGIN[] PROGMEM = "login";
const char S_LOG_LEVEL[] PROGMEM = "logLevel";
@@ -152,6 +155,7 @@ const char S_PREFIX[] PROGMEM = "prefix";
const char S_PROTOCOL_VERSION[] PROGMEM = "protocolVersion";
const char S_PURPOSE[] PROGMEM = "purpose";
const char S_P_FACTOR[] PROGMEM = "p_factor";
const char S_P_MULTIPLIER[] PROGMEM = "p_multiplier";
const char S_REAL_SIZE[] PROGMEM = "realSize";
const char S_REASON[] PROGMEM = "reason";
const char S_RESET_DIAGNOSTIC[] PROGMEM = "resetDiagnostic";
@@ -183,6 +187,8 @@ const char S_TARGET[] PROGMEM = "target";
const char S_TARGET_TEMP[] PROGMEM = "targetTemp";
const char S_TELNET[] PROGMEM = "telnet";
const char S_TEMPERATURE[] PROGMEM = "temperature";
const char S_THRESHOLD_HIGH[] PROGMEM = "thresholdHigh";
const char S_THRESHOLD_LOW[] PROGMEM = "thresholdLow";
const char S_THRESHOLD_TIME[] PROGMEM = "thresholdTime";
const char S_TOTAL[] PROGMEM = "total";
const char S_TRESHOLD_TIME[] PROGMEM = "tresholdTime";

62
src/utils.h
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@@ -438,6 +438,14 @@ void settingsToJson(const Settings& src, JsonVariant dst, bool safe = false) {
pid[FPSTR(S_MIN_TEMP)] = src.pid.minTemp;
pid[FPSTR(S_MAX_TEMP)] = src.pid.maxTemp;
auto pidDeadband = pid[FPSTR(S_DEADBAND)].to<JsonObject>();
pidDeadband[FPSTR(S_ENABLED)] = src.pid.deadband.enabled;
pidDeadband[FPSTR(S_P_MULTIPLIER)] = src.pid.deadband.p_multiplier;
pidDeadband[FPSTR(S_I_MULTIPLIER)] = src.pid.deadband.i_multiplier;
pidDeadband[FPSTR(S_D_MULTIPLIER)] = src.pid.deadband.d_multiplier;
pidDeadband[FPSTR(S_THRESHOLD_HIGH)] = src.pid.deadband.thresholdHigh;
pidDeadband[FPSTR(S_THRESHOLD_LOW)] = src.pid.deadband.thresholdLow;
if (!safe) {
auto externalPump = dst[FPSTR(S_EXTERNAL_PUMP)].to<JsonObject>();
externalPump[FPSTR(S_USE)] = src.externalPump.use;
@@ -1075,6 +1083,60 @@ bool jsonToSettings(const JsonVariantConst src, Settings& dst, bool safe = false
changed = true;
}
if (src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_ENABLED)].is<bool>()) {
bool value = src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_ENABLED)].as<bool>();
if (value != dst.pid.deadband.enabled) {
dst.pid.deadband.enabled = value;
changed = true;
}
}
if (!src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_P_MULTIPLIER)].isNull()) {
float value = src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_P_MULTIPLIER)].as<float>();
if (value >= 0 && value <= 1 && fabsf(value - dst.pid.deadband.p_multiplier) > 0.0001f) {
dst.pid.deadband.p_multiplier = roundf(value, 3);
changed = true;
}
}
if (!src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_I_MULTIPLIER)].isNull()) {
float value = src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_I_MULTIPLIER)].as<float>();
if (value >= 0 && value <= 1 && fabsf(value - dst.pid.deadband.i_multiplier) > 0.0001f) {
dst.pid.deadband.i_multiplier = roundf(value, 3);
changed = true;
}
}
if (!src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_D_MULTIPLIER)].isNull()) {
float value = src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_D_MULTIPLIER)].as<float>();
if (value >= 0 && value <= 1 && fabsf(value - dst.pid.deadband.d_multiplier) > 0.0001f) {
dst.pid.deadband.d_multiplier = roundf(value, 3);
changed = true;
}
}
if (!src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_THRESHOLD_HIGH)].isNull()) {
float value = src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_THRESHOLD_HIGH)].as<float>();
if (value >= 0.0f && value <= 5.0f && fabsf(value - dst.pid.deadband.thresholdHigh) > 0.0001f) {
dst.pid.deadband.thresholdHigh = roundf(value, 2);
changed = true;
}
}
if (!src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_THRESHOLD_LOW)].isNull()) {
float value = src[FPSTR(S_PID)][FPSTR(S_DEADBAND)][FPSTR(S_THRESHOLD_LOW)].as<float>();
if (value >= 0.0f && value <= 5.0f && fabsf(value - dst.pid.deadband.thresholdLow) > 0.0001f) {
dst.pid.deadband.thresholdLow = roundf(value, 2);
changed = true;
}
}
// heating
if (src[FPSTR(S_HEATING)][FPSTR(S_ENABLED)].is<bool>()) {

14
src_data/locales/en.json
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@@ -347,7 +347,19 @@
"i": "I factor",
"d": "D factor",
"dt": "DT <small>in seconds</small>",
"noteMinMaxTemp": "<b>Important:</b> When using «Equitherm» and «PID» at the same time, the min and max temperatures limit the influence on the «Equitherm» result temperature.<br />Thus, if the min temperature is set to -15 and the max temperature is set to 15, then the final heat carrier setpoint will be from <code>equitherm_result - 15</code> to <code>equitherm_result + 15</code>."
"limits": {
"title": "Limits",
"note": "<b>Important:</b> When using «Equitherm» and «PID» at the same time, the min and max temperatures limit the influence on the «Equitherm» result temperature.<br />Thus, if the min temperature is set to -15 and the max temperature is set to 15, then the final heat carrier setpoint will be from <code>equitherm_result - 15</code> to <code>equitherm_result + 15</code>."
},
"deadband": {
"title": "Deadband",
"note": "Deadband is a range around the target temperature where PID regulation becomes less active. Within this range, the algorithm can reduce intensity or pause adjustments to avoid overreacting to small fluctuations.<br /><br />For instance, with a target temperature of 22°, a lower threshold of 1.0, and an upper threshold of 0.5, the deadband operates between 21° and 22.5°. If the I coefficient is 0.0005 and the I multiplier is 0.05, then within the deadband, the I coefficient becomes: <code>0.0005 * 0.05 = 0.000025</code>",
"p_multiplier": "Multiplier for P factor",
"i_multiplier": "Multiplier for I factor",
"d_multiplier": "Multiplier for D factor",
"thresholdHigh": "Threshold high",
"thresholdLow": "Threshold low"
}
},
"ot": {

14
src_data/locales/it.json
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@@ -347,7 +347,19 @@
"i": "Fattore I",
"d": "Fattore D",
"dt": "DT <small>in secondi</small>",
"noteMinMaxTemp": "<b>Importante:</b> Quando usi «Equitherm» e «PID» allo stesso tempo, i limiti della temperatura min e max influenzano il risultato della temperatura «Equitherm».<br />Thus, se la temperatura minima è impostata a -15 e la massima a 15, il riscaldamento finale sarà impostato fra <code>equitherm_result - 15</code> a <code>equitherm_result + 15</code>."
"limits": {
"title": "Limiti",
"note": "<b>Importante:</b> Quando usi «Equitherm» e «PID» allo stesso tempo, i limiti della temperatura min e max influenzano il risultato della temperatura «Equitherm».<br />Thus, se la temperatura minima è impostata a -15 e la massima a 15, il riscaldamento finale sarà impostato fra <code>equitherm_result - 15</code> a <code>equitherm_result + 15</code>."
},
"deadband": {
"title": "Zona morta (Deadband)",
"note": "La zona morta è un intervallo intorno alla temperatura target in cui la regolazione PID diventa meno attiva. In questo intervallo, l'algoritmo può ridurre l'intensità o interrompere gli aggiustamenti per evitare di reagire eccessivamente a piccole fluttuazioni.<br /><br />Ad esempio, con una temperatura target di 22°, una soglia inferiore di 1.0 e una soglia superiore di 0.5, la zona morta opera tra 21° e 22.5°. Se il coefficiente I è 0.0005 e il moltiplicatore I è 0.05, allora nella zona morta, il coefficiente I diventa: <code>0.0005 * 0.05 = 0.000025</code>",
"p_multiplier": "Moltiplicatore P",
"i_multiplier": "Moltiplicatore I",
"d_multiplier": "Moltiplicatore D",
"thresholdHigh": "Soglia superiore",
"thresholdLow": "Soglia inferiore"
}
},
"ot": {

14
src_data/locales/ru.json
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@@ -347,7 +347,19 @@
"i": "Коэффициент I",
"d": "Коэффициент D",
"dt": "DT <small>(сек)</small>",
"noteMinMaxTemp": "<b>Важно:</b> При использовании «ПЗА» и «ПИД» одновременно, мин. и макс. температура ограничивает влияние на расчётную температуру «ПЗА».<br />Таким образом, если мин. температура задана как -15, а макс. как 15, то конечная температура теплоносителя будет от <code>equitherm_result - 15</code> до <code>equitherm_result + 15</code>."
"limits": {
"title": "Лимиты",
"note": "<b>Важно:</b> При использовании «ПЗА» и «ПИД» одновременно, мин. и макс. температура ограничивает влияние на расчётную температуру «ПЗА».<br />Таким образом, если мин. температура задана как -15, а макс. как 15, то конечная температура теплоносителя будет от <code>equitherm_result - 15</code> до <code>equitherm_result + 15</code>."
},
"deadband": {
"title": "Мертвая зона (Deadband)",
"note": "Deadband - это мёртвая зона вокруг целевой температуры, в которой PID-регулирование становится менее активным. В этом диапазоне алгоритм может снижать интенсивность или полностью прекращать корректировку температуры, чтобы избежать излишней чувствительности к небольшим колебаниям.<br /><br />Например, при целевой температуре 22°, нижнем пороге 1.0 и верхнем 0.5, deadband активен в диапазоне от 21° до 22.5°. Если коэфф. I=0.0005, а множитель I=0.05, то при включении мертвой зоны коэфф. I будет равен: <code>0.0005 * 0.05 = 0.000025</code>",
"p_multiplier": "Множитель для коэф. P",
"i_multiplier": "Множитель для коэф. I",
"d_multiplier": "Множитель для коэф. D",
"thresholdHigh": "Верхний порог",
"thresholdLow": "Нижний порог"
}
},
"ot": {

80
src_data/pages/settings.html
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@@ -313,19 +313,71 @@
<hr />
<div class="grid">
<label>
<span data-i18n>settings.temp.min</span>
<input type="number" inputmode="decimal" name="pid[minTemp]" min="0" max="0" step="1" required>
</label>
<details>
<summary><b data-i18n>settings.pid.limits.title</b></summary>
<label>
<span data-i18n>settings.temp.max</span>
<input type="number" inputmode="numeric" name="pid[maxTemp]" min="0" max="0" step="1" required>
</label>
</div>
<div>
<div class="grid">
<label>
<span data-i18n>settings.temp.min</span>
<input type="number" inputmode="decimal" name="pid[minTemp]" min="0" max="0" step="1" required>
</label>
<label>
<span data-i18n>settings.temp.max</span>
<input type="number" inputmode="numeric" name="pid[maxTemp]" min="0" max="0" step="1" required>
</label>
</div>
<small data-i18n>settings.pid.noteMinMaxTemp</small>
<small data-i18n>settings.pid.limits.note</small>
</div>
</details>
<hr />
<details>
<summary><b data-i18n>settings.pid.deadband.title</b></summary>
<div>
<fieldset>
<label>
<input type="checkbox" name="pid[deadband][enabled]" value="true">
<span data-i18n>settings.enable</span>
</label>
</fieldset>
<div class="grid">
<label>
<span data-i18n>settings.pid.deadband.p_multiplier</span>
<input type="number" inputmode="decimal" name="pid[deadband][p_multiplier]" min="0" max="5" step="0.001" required>
</label>
<label>
<span data-i18n>settings.pid.deadband.i_multiplier</span>
<input type="number" inputmode="decimal" name="pid[deadband][i_multiplier]" min="0" max="1" step="0.001" required>
</label>
<label>
<span data-i18n>settings.pid.deadband.d_multiplier</span>
<input type="number" inputmode="decimal" name="pid[deadband][d_multiplier]" min="0" max="1" step="0.001" required>
</label>
</div>
<div class="grid">
<label>
<span data-i18n>settings.pid.deadband.thresholdHigh</span>
<input type="number" inputmode="decimal" name="pid[deadband][thresholdHigh]" min="0" max="5" step="0.01" required>
</label>
<label>
<span data-i18n>settings.pid.deadband.thresholdLow</span>
<input type="number" inputmode="decimal" name="pid[deadband][thresholdLow]" min="0" max="5" step="0.01" required>
</label>
</div>
<small data-i18n>settings.pid.deadband.note</small>
</div>
</details>
<button type="submit" data-i18n>button.save</button>
</form>
@@ -823,6 +875,12 @@
"min": (data.system.unitSystem == 0 ? 0 : 33),
"max": (data.system.unitSystem == 0 ? 100 : 212)
});
setCheckboxValue("[name='pid[deadband][enabled]']", data.pid.deadband.enabled);
setInputValue("[name='pid[deadband][p_multiplier]']", data.pid.deadband.p_multiplier);
setInputValue("[name='pid[deadband][i_multiplier]']", data.pid.deadband.i_multiplier);
setInputValue("[name='pid[deadband][d_multiplier]']", data.pid.deadband.d_multiplier);
setInputValue("[name='pid[deadband][thresholdHigh]']", data.pid.deadband.thresholdHigh);
setInputValue("[name='pid[deadband][thresholdLow]']", data.pid.deadband.thresholdLow);
setBusy('#pid-settings-busy', '#pid-settings', false);
};