Mercurial > mbsePi-apps / file comparison
comparison: thermferm/pid.c
thermferm/pid.c
- changeset 362
- c92651a54969
- parent 316
- 73cd31dc6ce1
- child 363
- 468ec0d96cce
equal
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replaced
| 361:308f6a436779 | 362:c92651a54969 |
|---|---|
| 22 | 22 |
| 23 #include "thermferm.h" | 23 #include "thermferm.h" |
| 24 #include "pid.h" | 24 #include "pid.h" |
| 25 | 25 |
| 26 | 26 |
| 27 double UpdatePID(pid_var *pid, double error, double position) | 27 void InitPID(pid_var *pid, int type) |
| 28 { | 28 { |
| 29 double pTerm, dTerm, iTerm; | 29 pid->Err = pid->ErrLast = pid->ErrLastLast = 0.0; |
| 30 | 30 pid->Input = pid->InputD = pid->OutP = pid->InputLast = pid->SetP = 0.0; |
| 31 pTerm = pid->pGain * error; | 31 pid->pGain = pid->iGain = pid->dGain = 0.0; |
| 32 | 32 pid->idleRange = 0.4; |
| 33 /* | 33 pid->Mode = PID_MODE_NONE; |
| 34 * Calculate the integral state with appopriate limiting | 34 pid->Type = type; |
| 35 */ | 35 pid->iMax = 100.0; |
| 36 pid->iState += error; | |
| 37 if (pid->iState > pid->iMax) | |
| 38 pid->iState = pid->iMax; | |
| 39 else if (pid->iState < pid->iMin) | |
| 40 pid->iState = pid->iMin; | |
| 41 | |
| 42 iTerm = pid->iGain * pid->iState; | |
| 43 | |
| 44 dTerm = pid->dGain * (pid->dState - position); | |
| 45 pid->dState = position; | |
| 46 | |
| 47 return pTerm + dTerm + iTerm; | |
| 48 } | 36 } |
| 49 | 37 |
| 50 | 38 |
| 39 | |
| 40 void UpdatePID(pid_var *pid) | |
| 41 { | |
| 42 if (pid->Mode == PID_MODE_AUTO) { | |
| 43 | |
| 44 pid->InputD = pid->Input + (pid->Input - pid->InputLast) * pid->dGain * PID_TIMES; | |
| 45 pid->InputLast = pid->Input; | |
| 46 if (pid->Type == PID_TYPE_HEAT) | |
| 47 pid->Err = pid->InputD - pid->SetP; | |
| 48 else | |
| 49 pid->Err = pid->SetP - pid->InputD; | |
| 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)); | |
| 52 pid->ErrLastLast = pid->ErrLast; | |
| 53 pid->ErrLast = pid->Err; | |
| 54 | |
| 55 } if (pid->Mode == PID_MODE_BOO) { | |
| 56 /* | |
| 57 * Mode Bang On Off | |
| 58 */ | |
| 59 pid->InputLast = pid->Input; | |
| 60 if (pid->Type == PID_TYPE_HEAT) | |
| 61 pid->ErrLastLast = pid->ErrLast = pid->Err = pid->SetP - pid->Input; | |
| 62 else | |
| 63 pid->ErrLastLast = pid->ErrLast = pid->Err = pid->Input - pid->SetP; | |
| 64 | |
| 65 if (pid->Err > 0.0) | |
| 66 pid->OutP = pid->iMax; | |
| 67 else | |
| 68 pid->OutP = 0.0; | |
| 69 | |
| 70 } else { | |
| 71 /* | |
| 72 * While in manual mode, stay ready for bumpless switch to | |
| 73 * auto. | |
| 74 */ | |
| 75 pid->InputLast = pid->Input; | |
| 76 pid->ErrLastLast = pid->ErrLast = pid->Err; | |
| 77 } | |
| 78 | |
| 79 if (pid->OutP > pid->iMax) | |
| 80 pid->OutP = pid->iMax; | |
| 81 if (pid->OutP < 0.0) | |
| 82 pid->OutP = 0.0; | |
| 83 | |
| 84 } | |
| 85 | |
| 86 |
