Mercurial > mbsePi-apps / file comparison
comparison: thermferm/thermferm.c
thermferm/thermferm.c
- changeset 311
- f3b0e9ac9bcb
- parent 310
- 53774295e14a
- child 312
- 7b0f819a3805
equal
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inserted
replaced
| 310:53774295e14a | 311:f3b0e9ac9bcb |
|---|---|
| 834 units_list *unit; | 834 units_list *unit; |
| 835 profiles_list *profile; | 835 profiles_list *profile; |
| 836 prof_step *step; | 836 prof_step *step; |
| 837 int rc, run = 1, seconds = 0, minutes = 0, piddelay = 0, temp, deviation; | 837 int rc, run = 1, seconds = 0, minutes = 0, piddelay = 0, temp, deviation; |
| 838 int run_seconds, run_minutes, run_hours, tot_minutes; | 838 int run_seconds, run_minutes, run_hours, tot_minutes; |
| 839 float err = 0.0, sp, pv, P_err, D_err, Out; | 839 float sp, pv, P_err = 0.0, D_err, Out; |
| 840 #ifdef HAVE_WIRINGPI_H | 840 #ifdef HAVE_WIRINGPI_H |
| 841 struct tm *tm; | 841 struct tm *tm; |
| 842 int row, key; | 842 int row, key; |
| 843 #else | 843 #else |
| 844 long t = 0; | 844 long t = 0; |
| 1301 } | 1301 } |
| 1302 #endif | 1302 #endif |
| 1303 } | 1303 } |
| 1304 | 1304 |
| 1305 piddelay++; | 1305 piddelay++; |
| 1306 if (piddelay == 15) { | 1306 if (piddelay == 5) { |
| 1307 piddelay = 0; | 1307 piddelay = 0; |
| 1308 | 1308 |
| 1309 for (unit = Config.units; unit; unit = unit->next) { | 1309 for (unit = Config.units; unit; unit = unit->next) { |
| 1310 if ((unit->mode == UNITMODE_FRIDGE) || (unit->mode == UNITMODE_BEER) || (unit->mode == UNITMODE_PROFILE)) { | 1310 if ((unit->mode == UNITMODE_FRIDGE) || (unit->mode == UNITMODE_BEER) || (unit->mode == UNITMODE_PROFILE)) { |
| 1311 /* | 1311 /* |
| 1318 pv = unit->air_temperature / 1000.0; | 1318 pv = unit->air_temperature / 1000.0; |
| 1319 } else if (unit->mode == UNITMODE_PROFILE) { | 1319 } else if (unit->mode == UNITMODE_PROFILE) { |
| 1320 sp = unit->prof_target; | 1320 sp = unit->prof_target; |
| 1321 } | 1321 } |
| 1322 | 1322 |
| 1323 // unit->PID_err_old = err; | 1323 P_err = sp - pv; |
| 1324 err = sp - pv; | 1324 if (P_err < unit->idle_rangeH && P_err > unit->idle_rangeL) { |
| 1325 if (err < unit->idle_rangeH && err > unit->idle_rangeL) { | 1325 P_err = 0.0; |
| 1326 err = 0; | 1326 } |
| 1327 unit->PID_I_err -= unit->PID_err_old; | 1327 unit->PID_I_err += (unit->PID_Ki * P_err); |
| 1328 } else { | 1328 // unit->PID_I_err -= unit->PID_err_old; |
| 1329 unit->PID_I_err += unit->PID_err_old; | 1329 // } else { |
| 1330 } | 1330 // unit->PID_I_err += unit->PID_err_old; |
| 1331 /* Limit intergral error */ | 1331 // } |
| 1332 if (unit->PID_I_err < -10.0) | 1332 /* Limit integral error */ |
| 1333 unit->PID_I_err = -10.0; | 1333 if (unit->PID_I_err < -100.0) |
| 1334 if (unit->PID_I_err > 10.0) | 1334 unit->PID_I_err = -100.0; |
| 1335 unit->PID_I_err = 10.0; | 1335 if (unit->PID_I_err > 100.0) |
| 1336 P_err = err; | 1336 unit->PID_I_err = 100.0; |
| 1337 D_err = err - unit->PID_err_old; | 1337 D_err = P_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. | 1341 * Start with Kp, Kd and Ki set to 0. |
| 1342 * Increase Kp until small oscillation. | 1342 * Increase Kp until small oscillation. |
| 1343 * Increase Kd until a little damping. | 1343 * Increase Kd until a little damping. |
| 1344 * Increase Ki after Kp and Kd are set until longterm convergence. | 1344 * Increase Ki after Kp and Kd are set until longterm convergence. |
| 1345 */ | 1345 */ |
| 1346 Out = (10.0*P_err) + (0.0*unit->PID_I_err) + (0.0*D_err); | 1346 Out = (unit->PID_Kp * P_err) + unit->PID_I_err - (unit->PID_Kd * D_err); |
| 1347 //Out = (10.0*P_err) + (0.1*unit->PID_I_err) + (5*D_err); | 1347 if (Out > 100.0) |
| 1348 // Kp 0.1 Ki 0.3 Kd 0.02 | 1348 Out = 100.0; |
| 1349 if (err != 0.0) { | 1349 if (Out < -100.0) |
| 1350 Out = -100.0; | |
| 1351 // if (P_err != 0.0) { | |
| 1350 if (debug) | 1352 if (debug) |
| 1351 fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n", | 1353 fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n", |
| 1352 sp, pv, unit->PID_err_old, err, P_err, unit->PID_I_err, D_err, Out); | 1354 sp, pv, unit->PID_err_old, P_err, unit->PID_I_err, D_err, Out); |
| 1353 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f", | 1355 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f err_old=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f", |
| 1354 sp, pv, unit->PID_err_old, err, P_err, unit->PID_I_err, D_err, Out); | 1356 sp, pv, unit->PID_err_old, P_err, unit->PID_I_err, D_err, Out); |
| 1355 } | 1357 // } |
| 1356 unit->PID_err_old = err; | 1358 unit->PID_err_old = P_err; |
| 1357 | 1359 |
| 1358 if (unit->heater_address) { | 1360 if (unit->heater_address) { |
| 1359 if (Out >= 2) { | 1361 if (Out >= 1) { |
| 1360 if (unit->heater_wait < unit->heater_delay) { | 1362 if (unit->heater_wait < unit->heater_delay) { |
| 1361 unit->heater_wait++; | 1363 unit->heater_wait++; |
| 1362 syslog(LOG_NOTICE, "heater_wait + %d/%d", unit->heater_wait, unit->heater_delay); | 1364 syslog(LOG_NOTICE, "heater_wait + %d/%d", unit->heater_wait, unit->heater_delay); |
| 1363 } else { | 1365 } else { |
| 1364 if (! unit->heater_state && ! unit->cooler_state) { | 1366 if (! unit->heater_state && ! unit->cooler_state) { |
| 1378 } | 1380 } |
| 1379 } | 1381 } |
| 1380 device_out(unit->heater_address, unit->heater_state); | 1382 device_out(unit->heater_address, unit->heater_state); |
| 1381 } | 1383 } |
| 1382 if (unit->cooler_address) { | 1384 if (unit->cooler_address) { |
| 1383 if (Out <= -2) { | 1385 if (Out <= -1) { |
| 1384 if (unit->cooler_wait < unit->cooler_delay) { | 1386 if (unit->cooler_wait < unit->cooler_delay) { |
| 1385 unit->cooler_wait++; | 1387 unit->cooler_wait++; |
| 1386 syslog(LOG_NOTICE, "cooler_wait + %d/%d", unit->cooler_wait, unit->cooler_delay); | 1388 syslog(LOG_NOTICE, "cooler_wait + %d/%d", unit->cooler_wait, unit->cooler_delay); |
| 1387 } else { | 1389 } else { |
| 1388 if (! unit->cooler_state && ! unit->heater_state) { | 1390 if (! unit->cooler_state && ! unit->heater_state) { |
| 1422 unit->fan_state = 0; | 1424 unit->fan_state = 0; |
| 1423 } | 1425 } |
| 1424 device_out(unit->fan_address, unit->fan_state); | 1426 device_out(unit->fan_address, unit->fan_state); |
| 1425 } | 1427 } |
| 1426 } else { | 1428 } else { |
| 1427 err = 0.0; | 1429 P_err = 0.0; |
| 1428 unit->PID_I_err = 0.0; | 1430 unit->PID_I_err = 0.0; |
| 1429 unit->PID_err_old = 0.0; | 1431 unit->PID_err_old = 0.0; |
| 1430 } | 1432 } |
| 1431 } | 1433 } |
| 1432 } | 1434 } |
