Mercurial > mbsePi-apps / file comparison
comparison: thermferm/thermferm.c
thermferm/thermferm.c
- changeset 310
- 53774295e14a
- parent 309
- c0dc3cd97fa4
- child 311
- f3b0e9ac9bcb
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| 309:c0dc3cd97fa4 | 310:53774295e14a |
|---|---|
| 1336 P_err = err; | 1336 P_err = err; |
| 1337 D_err = err - unit->PID_err_old; | 1337 D_err = err - unit->PID_err_old; |
| 1338 | 1338 |
| 1339 /* | 1339 /* |
| 1340 * A postive value means heating, a negative value cooling. | 1340 * A postive value means heating, a negative value cooling. |
| 1341 * Start with Kp, Kd and Ki set to 0. | |
| 1342 * Increase Kp until small oscillation. | |
| 1343 * Increase Kd until a little damping. | |
| 1344 * Increase Ki after Kp and Kd are set until longterm convergence. | |
| 1341 */ | 1345 */ |
| 1342 Out = (10.0*P_err) + (0.1*unit->PID_I_err) + (5*D_err); | 1346 Out = (10.0*P_err) + (0.0*unit->PID_I_err) + (0.0*D_err); |
| 1347 //Out = (10.0*P_err) + (0.1*unit->PID_I_err) + (5*D_err); | |
| 1343 // Kp 0.1 Ki 0.3 Kd 0.02 | 1348 // Kp 0.1 Ki 0.3 Kd 0.02 |
| 1344 if (err != 0.0) { | 1349 if (err != 0.0) { |
| 1345 if (debug) | 1350 if (debug) |
| 1346 fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n", | 1351 fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n", |
| 1347 sp, pv, unit->PID_err_old, err, P_err, unit->PID_I_err, D_err, Out); | 1352 sp, pv, unit->PID_err_old, err, P_err, unit->PID_I_err, D_err, Out); |
