Mercurial > mbsePi-apps / file comparison
comparison: thermferm/pid.c
thermferm/pid.c
- changeset 363
- 468ec0d96cce
- parent 362
- c92651a54969
- child 492
- 750f2468dec5
equal
deleted
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replaced
| 362:c92651a54969 | 363:468ec0d96cce |
|---|---|
| 24 #include "pid.h" | 24 #include "pid.h" |
| 25 | 25 |
| 26 | 26 |
| 27 void InitPID(pid_var *pid, int type) | 27 void InitPID(pid_var *pid, int type) |
| 28 { | 28 { |
| 29 pid->Err = pid->ErrLast = pid->ErrLastLast = 0.0; | 29 pid->Err = pid->ErrLast = pid->iState = 0.0; |
| 30 pid->Input = pid->InputD = pid->OutP = pid->InputLast = pid->SetP = 0.0; | 30 pid->Input = pid->OutP = pid->SetP = 0.0; |
| 31 pid->pGain = pid->iGain = pid->dGain = 0.0; | 31 pid->pGain = pid->iGain = pid->dGain = 0.0; |
| 32 pid->idleRange = 0.4; | 32 pid->idleRange = 0.4; |
| 33 pid->Mode = PID_MODE_NONE; | 33 pid->Mode = PID_MODE_NONE; |
| 34 pid->Type = type; | 34 pid->Type = type; |
| 35 pid->iMax = 100.0; | 35 pid->iMax = 100.0; |
| 39 | 39 |
| 40 void UpdatePID(pid_var *pid) | 40 void UpdatePID(pid_var *pid) |
| 41 { | 41 { |
| 42 if (pid->Mode == PID_MODE_AUTO) { | 42 if (pid->Mode == PID_MODE_AUTO) { |
| 43 | 43 |
| 44 pid->InputD = pid->Input + (pid->Input - pid->InputLast) * pid->dGain * PID_TIMES; | 44 double pTerm, dTerm, iTerm; |
| 45 pid->InputLast = pid->Input; | 45 |
| 46 if (pid->Type == PID_TYPE_HEAT) | 46 if (pid->Type == PID_TYPE_HEAT) |
| 47 pid->Err = pid->InputD - pid->SetP; | 47 pid->Err = pid->SetP - pid->Input; |
| 48 else | 48 else |
| 49 pid->Err = pid->SetP - pid->InputD; | 49 pid->Err = pid->Input - pid->SetP; |
| 50 | 50 |
| 51 pid->OutP = pid->OutP + pid->pGain * (pid->Err - pid->ErrLast + pid->iGain * pid->Err + pid->dGain * (pid->Err - pid->ErrLast * 2 + pid->ErrLastLast)); | 51 /* |
| 52 pid->ErrLastLast = pid->ErrLast; | 52 * Calculate the integral state with appopriate limiting. |
| 53 * Use ErrLastLast as iState | |
| 54 */ | |
| 55 pid->iState += pid->Err; | |
| 56 if (pid->iState > PID_WINDUP_GUARD) | |
| 57 pid->iState = PID_WINDUP_GUARD; | |
| 58 else if (pid->iState < -PID_WINDUP_GUARD) | |
| 59 pid->iState = -PID_WINDUP_GUARD; | |
| 60 | |
| 61 pTerm = pid->pGain * pid->Err; | |
| 62 iTerm = pid->iGain * pid->iState; | |
| 63 dTerm = pid->dGain * (pid->Err - pid->ErrLast); | |
| 64 | |
| 65 pid->OutP = pTerm + dTerm + iTerm; | |
| 53 pid->ErrLast = pid->Err; | 66 pid->ErrLast = pid->Err; |
| 54 | 67 |
| 55 } if (pid->Mode == PID_MODE_BOO) { | 68 } else if (pid->Mode == PID_MODE_BOO) { |
| 56 /* | 69 /* |
| 57 * Mode Bang On Off | 70 * Mode Bang On Off |
| 58 */ | 71 */ |
| 59 pid->InputLast = pid->Input; | 72 pid->ErrLast = pid->Err; |
| 73 | |
| 60 if (pid->Type == PID_TYPE_HEAT) | 74 if (pid->Type == PID_TYPE_HEAT) |
| 61 pid->ErrLastLast = pid->ErrLast = pid->Err = pid->SetP - pid->Input; | 75 pid->Err = pid->SetP - pid->Input; |
| 62 else | 76 else |
| 63 pid->ErrLastLast = pid->ErrLast = pid->Err = pid->Input - pid->SetP; | 77 pid->Err = pid->Input - pid->SetP; |
| 64 | 78 |
| 65 if (pid->Err > 0.0) | 79 if (pid->OutP && (pid->Err <= 0.0)) |
| 80 pid->OutP = 0.0; | |
| 81 else if ((pid->OutP == 0.0) && (pid->Err > pid->idleRange)) | |
| 66 pid->OutP = pid->iMax; | 82 pid->OutP = pid->iMax; |
| 67 else | 83 |
| 68 pid->OutP = 0.0; | 84 pid->iState = 0.0; |
| 69 | 85 |
| 70 } else { | 86 } else { |
| 71 /* | 87 /* |
| 72 * While in manual mode, stay ready for bumpless switch to | 88 * While in manual mode, stay ready for bumpless switch to |
| 73 * auto. | 89 * auto. |
| 74 */ | 90 */ |
| 75 pid->InputLast = pid->Input; | 91 pid->ErrLast = pid->Err = 0.0; |
| 76 pid->ErrLastLast = pid->ErrLast = pid->Err; | 92 pid->OutP = pid->iState = 0.0; |
| 77 } | 93 } |
| 78 | 94 |
| 79 if (pid->OutP > pid->iMax) | 95 if (pid->OutP > pid->iMax) |
| 80 pid->OutP = pid->iMax; | 96 pid->OutP = pid->iMax; |
| 81 if (pid->OutP < 0.0) | 97 if (pid->OutP < 0.0) |
