Mercurial > mbsePi-apps / file comparison
comparison: thermferm/pid.c
thermferm/pid.c
- changeset 492
- 750f2468dec5
- parent 363
- 468ec0d96cce
- child 495
- 712984fdd26b
equal
deleted
inserted
replaced
| 491:31b14c9ac625 | 492:750f2468dec5 |
|---|---|
| 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->iState = 0.0; | 29 pid->Err = pid->InputLast = pid->iState = 0.0; |
| 30 pid->Input = pid->OutP = 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; |
| 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 double pTerm, dTerm, iTerm; | 44 double dTerm; |
| 45 | 45 |
| 46 if (pid->Type == PID_TYPE_HEAT) | 46 if (pid->Type == PID_TYPE_HEAT) |
| 47 pid->Err = pid->SetP - pid->Input; | 47 pid->Err = pid->SetP - pid->Input; |
| 48 else | 48 else |
| 49 pid->Err = pid->Input - pid->SetP; | 49 pid->Err = pid->Input - pid->SetP; |
| 50 | 50 |
| 51 /* | 51 /* |
| 52 * Calculate the integral state with appopriate limiting. | 52 * Calculate the integral state with appopriate limiting. |
| 53 * Use ErrLastLast as iState | 53 * Use ErrLastLast as iState |
| 54 */ | 54 */ |
| 55 pid->iState += pid->Err; | 55 pid->iState += (pid->iGain * pid->Err); |
| 56 if (pid->iState > PID_WINDUP_GUARD) | 56 if (pid->iState > pid->iMax) |
| 57 pid->iState = PID_WINDUP_GUARD; | 57 pid->iState = pid->iMax; |
| 58 else if (pid->iState < -PID_WINDUP_GUARD) | 58 else if (pid->iState < 0) |
| 59 pid->iState = -PID_WINDUP_GUARD; | 59 pid->iState = 0; |
| 60 | 60 |
| 61 pTerm = pid->pGain * pid->Err; | 61 dTerm = (pid->Input - pid->InputLast); |
| 62 iTerm = pid->iGain * pid->iState; | |
| 63 dTerm = pid->dGain * (pid->Err - pid->ErrLast); | |
| 64 | 62 |
| 65 pid->OutP = pTerm + dTerm + iTerm; | 63 pid->OutP = (pid->pGain * pid->Err) + pid->iState - (pid->dGain * dTerm); |
| 66 pid->ErrLast = pid->Err; | 64 pid->InputLast = pid->Input; |
| 67 | 65 |
| 68 } else if (pid->Mode == PID_MODE_BOO) { | 66 } else if (pid->Mode == PID_MODE_BOO) { |
| 69 /* | 67 /* |
| 70 * Mode Bang On Off | 68 * Mode Bang On Off |
| 71 */ | 69 */ |
| 72 pid->ErrLast = pid->Err; | 70 pid->InputLast = pid->Input; |
| 73 | 71 |
| 74 if (pid->Type == PID_TYPE_HEAT) | 72 if (pid->Type == PID_TYPE_HEAT) |
| 75 pid->Err = pid->SetP - pid->Input; | 73 pid->Err = pid->SetP - pid->Input; |
| 76 else | 74 else |
| 77 pid->Err = pid->Input - pid->SetP; | 75 pid->Err = pid->Input - pid->SetP; |
| 86 } else { | 84 } else { |
| 87 /* | 85 /* |
| 88 * While in manual mode, stay ready for bumpless switch to | 86 * While in manual mode, stay ready for bumpless switch to |
| 89 * auto. | 87 * auto. |
| 90 */ | 88 */ |
| 91 pid->ErrLast = pid->Err = 0.0; | 89 pid->InputLast = pid->Input; |
| 92 pid->OutP = pid->iState = 0.0; | 90 pid->OutP = pid->iState = 0.0; |
| 93 } | 91 } |
| 94 | 92 |
| 95 if (pid->OutP > pid->iMax) | 93 if (pid->OutP > pid->iMax) |
| 96 pid->OutP = pid->iMax; | 94 pid->OutP = pid->iMax; |
