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fix: PID optimization, correction of default PID settings

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Yurii
2024-04-18 00:04:23 +03:00
parent cca8ec58b4
commit d35ea81080
5 changed files with 31 additions and 12 deletions
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29
src/RegulatorTask.h
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@@ -133,7 +133,7 @@ protected:
prevHeatingTarget = settings.heating.target;
Log.sinfoln(FPSTR(L_REGULATOR), F("New target: %.2f"), settings.heating.target);
if (settings.equitherm.enable && settings.pid.enable) {
if (/*settings.equitherm.enable && */settings.pid.enable) {
pidRegulator.integral = 0;
Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
}
@@ -167,6 +167,7 @@ protected:
newTemp += pidResult;
Log.sinfoln(FPSTR(L_REGULATOR_PID), F("New result: %hhd (%.2f)"), (int8_t) round(pidResult), pidResult);
Log.straceln(FPSTR(L_REGULATOR_PID), F("Integral: %.2f"), pidRegulator.integral);
} else {
newTemp += prevPidResult;
@@ -174,6 +175,10 @@ protected:
} else {
newTemp += prevPidResult;
}
} else if (pidRegulator.integral != 0) {
pidRegulator.integral = 0;
Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
}
// default temp, manual mode
@@ -327,9 +332,23 @@ protected:
}
float getPidTemp(int minTemp, int maxTemp) {
pidRegulator.Kp = settings.pid.p_factor;
pidRegulator.Ki = settings.pid.i_factor;
pidRegulator.Kd = settings.pid.d_factor;
if (fabs(pidRegulator.Kp - settings.pid.p_factor) >= 0.0001f) {
pidRegulator.Kp = settings.pid.p_factor;
pidRegulator.integral = 0;
Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
}
if (fabs(pidRegulator.Ki - settings.pid.i_factor) >= 0.0001f) {
pidRegulator.Ki = settings.pid.i_factor;
pidRegulator.integral = 0;
Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
}
if (fabs(pidRegulator.Kd - settings.pid.d_factor) >= 0.0001f) {
pidRegulator.Kd = settings.pid.d_factor;
pidRegulator.integral = 0;
Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
}
pidRegulator.setLimits(minTemp, maxTemp);
pidRegulator.setDt(settings.pid.dt * 1000u);
@@ -342,7 +361,7 @@ protected:
float tuneEquithermN(float ratio, float currentTemp, float setTemp, unsigned int dirtyInterval = 60, unsigned int accurateInterval = 1800, float accurateStep = 0.01, float accurateStepAfter = 1) {
static uint32_t _prevIteration = millis();
if (abs(currentTemp - setTemp) < accurateStepAfter) {
if (fabs(currentTemp - setTemp) < accurateStepAfter) {
if (millis() - _prevIteration < (accurateInterval * 1000)) {
return ratio;
}