Mercurial > mbsePi-apps / file comparison
comparison: thermferm/thermferm.c
thermferm/thermferm.c
- changeset 185
- 4f34271cf1e7
- parent 184
- db997a04fde3
- child 188
- 4fc17ef4593f
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| 184:db997a04fde3 | 185:4f34271cf1e7 |
|---|---|
| 247 { | 247 { |
| 248 char buf[1024], *filename, target[40], heater[40], cooler[40], fan[40], door[40]; | 248 char buf[1024], *filename, target[40], heater[40], cooler[40], fan[40], door[40]; |
| 249 time_t now, last = (time_t)0; | 249 time_t now, last = (time_t)0; |
| 250 units_list *unit; | 250 units_list *unit; |
| 251 int rc, run = 1, seconds = 0, minutes = 0, piddelay = 0, temp, deviation; | 251 int rc, run = 1, seconds = 0, minutes = 0, piddelay = 0, temp, deviation; |
| 252 float err = 0.0, sp, pv, P_err, I_err = 0.0, D_err, Out; | 252 float err = 0.0, sp, pv, P_err, D_err, Out; |
| 253 #ifdef HAVE_WIRINGPI_H | 253 #ifdef HAVE_WIRINGPI_H |
| 254 struct tm *tm; | 254 struct tm *tm; |
| 255 int row; | 255 int row; |
| 256 #else | 256 #else |
| 257 long t = 0; | 257 long t = 0; |
| 444 sp = unit->prof_target; | 444 sp = unit->prof_target; |
| 445 } | 445 } |
| 446 | 446 |
| 447 unit->PID_err_old = err; | 447 unit->PID_err_old = err; |
| 448 err = sp - pv; | 448 err = sp - pv; |
| 449 if (err < unit->idle_rangeH && err > unit->idle_rangeL) | 449 if (err < unit->idle_rangeH && err > unit->idle_rangeL) { |
| 450 err = 0; | 450 err = 0; |
| 451 unit->PID_I_err -= unit->PID_err_old; | |
| 452 } else { | |
| 453 unit->PID_I_err += unit->PID_err_old; | |
| 454 } | |
| 455 /* Limit intergral error */ | |
| 456 if (unit->PID_I_err < -10.0) | |
| 457 unit->PID_I_err = -10.0; | |
| 458 if (unit->PID_I_err > 10.0) | |
| 459 unit->PID_I_err = 10.0; | |
| 451 P_err = err; | 460 P_err = err; |
| 452 I_err += unit->PID_err_old; | |
| 453 D_err = err - unit->PID_err_old; | 461 D_err = err - unit->PID_err_old; |
| 454 | 462 |
| 455 /* | 463 /* |
| 456 * A postive value means heating, a negative value cooling. | 464 * A postive value means heating, a negative value cooling. |
| 457 */ | 465 */ |
| 458 Out = (5.0*P_err) + (0.25*I_err) + (1.5*D_err); | 466 Out = (10.0*P_err) + (0.1*unit->PID_I_err) + (5*D_err); |
| 459 // Kp 0.1 Ki 0.3 Kd 0.02 | 467 // Kp 0.1 Ki 0.3 Kd 0.02 |
| 460 if (debug) | 468 if (debug) |
| 461 fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n", | 469 fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n", |
| 462 sp, pv, unit->PID_err_old, err, P_err, I_err, D_err, Out); | 470 sp, pv, unit->PID_err_old, err, P_err, unit->PID_I_err, D_err, Out); |
| 463 if (unit->heater_address) { | 471 if (unit->heater_address) { |
| 464 if (Out >= 2) | 472 if (Out >= 2) |
| 465 unit->heater_state = 100; | 473 unit->heater_state = 100; |
| 466 else | 474 else |
| 467 unit->heater_state = 0; | 475 unit->heater_state = 0; |
| 474 unit->cooler_state = 0; | 482 unit->cooler_state = 0; |
| 475 device_out(unit->cooler_address, unit->cooler_state); | 483 device_out(unit->cooler_address, unit->cooler_state); |
| 476 } | 484 } |
| 477 } else { | 485 } else { |
| 478 err = 0.0; | 486 err = 0.0; |
| 479 I_err = 0.0; | 487 unit->PID_I_err = 0.0; |
| 480 unit->PID_err_old = 0.0; | 488 unit->PID_err_old = 0.0; |
| 481 } | 489 } |
| 482 } | 490 } |
| 483 } | 491 } |
| 484 | 492 |
