Mercurial > mbsePi-apps / file comparison
comparison: thermferm/thermferm.c
thermferm/thermferm.c
- changeset 321
- b95baa89c509
- parent 319
- 8c454ec761a8
- child 326
- ae34b47700bb
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| 320:9e419f3c4e49 | 321:b95baa89c509 |
|---|---|
| 1304 } | 1304 } |
| 1305 #endif | 1305 #endif |
| 1306 } | 1306 } |
| 1307 | 1307 |
| 1308 /* | 1308 /* |
| 1309 * PID controller per unit, each second | 1309 * Temperature control per unit, each second |
| 1310 */ | 1310 */ |
| 1311 for (unit = Config.units; unit; unit = unit->next) { | 1311 for (unit = Config.units; unit; unit = unit->next) { |
| 1312 if ((unit->mode == UNITMODE_FRIDGE) || (unit->mode == UNITMODE_BEER) || (unit->mode == UNITMODE_PROFILE)) { | 1312 if ((unit->mode == UNITMODE_FRIDGE) || (unit->mode == UNITMODE_BEER) || (unit->mode == UNITMODE_PROFILE)) { |
| 1313 // double pTerm, dTerm, iTerm; | |
| 1314 int usePid = TRUE; | 1313 int usePid = TRUE; |
| 1315 | 1314 |
| 1316 sp = unit->beer_set; | 1315 sp = unit->beer_set; |
| 1317 pv = unit->beer_temperature / 1000.0; | 1316 pv = unit->beer_temperature / 1000.0; |
| 1318 if (unit->mode == UNITMODE_FRIDGE) { | 1317 if (unit->mode == UNITMODE_FRIDGE) { |
| 1349 Out = -100.0; | 1348 Out = -100.0; |
| 1350 | 1349 |
| 1351 if (debug) | 1350 if (debug) |
| 1352 fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n", | 1351 fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n", |
| 1353 sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out); | 1352 sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out); |
| 1354 if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) { | 1353 if (((Out >= 1) && unit->heater_address) || ((Out <= -1) && unit->cooler_address) || |
| 1354 (seconds == 60) || unit->heater_state || unit->cooler_state) { | |
| 1355 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f dState=%.2f iState=%.2f Out=%.2f", | 1355 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f dState=%.2f iState=%.2f Out=%.2f", |
| 1356 sp, pv, P_err, unit->PID_dState, unit->PID_iState, Out); | 1356 sp, pv, P_err, unit->PID_dState, unit->PID_iState, Out); |
| 1357 } | 1357 } |
| 1358 | 1358 |
| 1359 unit->PID_iState = pid->iState; | 1359 unit->PID_iState = pid->iState; |
| 1369 } else if (P_err < 0) { | 1369 } else if (P_err < 0) { |
| 1370 Out = -100.0; | 1370 Out = -100.0; |
| 1371 } else { | 1371 } else { |
| 1372 Out = 0.0; | 1372 Out = 0.0; |
| 1373 } | 1373 } |
| 1374 if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) { | 1374 if (((Out >= 1) && unit->heater_address) || ((Out <= -1) && unit->cooler_address) || |
| 1375 (seconds == 60) || unit->heater_state || unit->cooler_state) { | |
| 1375 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f Out=%.2f", | 1376 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f Out=%.2f", |
| 1376 sp, pv, P_err, Out); | 1377 sp, pv, P_err, Out); |
| 1377 } | 1378 } |
| 1378 } | 1379 } |
| 1379 | |
| 1380 // pTerm = unit->PID_Kp * P_err; | |
| 1381 | |
| 1382 /* | |
| 1383 * Calculate the intergral state with appropriate limiting | |
| 1384 */ | |
| 1385 // unit->PID_iState += P_err; | |
| 1386 /* Limit integral error */ | |
| 1387 // if (unit->PID_iState < -100.0) | |
| 1388 // unit->PID_iState = -100.0; | |
| 1389 // if (unit->PID_iState > 100.0) | |
| 1390 // unit->PID_iState = 100.0; | |
| 1391 // iTerm = unit->PID_iState * unit->PID_Ki; | |
| 1392 // dTerm = (unit->PID_dState - pv) * unit->PID_Kd; | |
| 1393 | |
| 1394 /* | |
| 1395 * A postive value means heating, a negative value cooling. | |
| 1396 * Start with Kp, Kd and Ki set to 0. | |
| 1397 * Increase Kp until small oscillation. | |
| 1398 * Increase Kd until a little damping. | |
| 1399 * Increase Ki after Kp and Kd are set until longterm convergence. | |
| 1400 */ | |
| 1401 // Out = pTerm + dTerm + iTerm; | |
| 1402 // if (Out > 100.0) | |
| 1403 // Out = 100.0; | |
| 1404 // if (Out < -100.0) | |
| 1405 // Out = -100.0; | |
| 1406 // if (debug) | |
| 1407 // fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n", | |
| 1408 // sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out); | |
| 1409 // if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) { | |
| 1410 // syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f dState=%.2f iState=%.2f pTerm=%.2f iTerm=%.2f dTerm=%.2f Out=%.2f", | |
| 1411 // sp, pv, P_err, unit->PID_dState, unit->PID_iState, pTerm, iTerm, dTerm, Out); | |
| 1412 // } | |
| 1413 // unit->PID_dState = pv; | |
| 1414 | 1380 |
| 1415 if (unit->heater_address && ! unit->cooler_state) { | 1381 if (unit->heater_address && ! unit->cooler_state) { |
| 1416 if (Out >= 1) { | 1382 if (Out >= 1) { |
| 1417 if (unit->heater_wait < unit->heater_delay) { | 1383 if (unit->heater_wait < unit->heater_delay) { |
| 1418 unit->heater_wait++; | 1384 unit->heater_wait++; |
