Mercurial > mbsePi-apps / changeset

--- a/thermferm/Makefile	Tue Feb 17 23:27:47 2015 +0100
+++ b/thermferm/Makefile	Thu Feb 19 14:42:55 2015 +0100
@@ -62,7 +62,8 @@
 lock.o: lock.h thermferm.h
 logger.o: logger.h thermferm.h futil.h xutil.h
 lcd-pcf8574.o: thermferm.h lcd-pcf8574.h
-thermferm.o: lock.h logger.h rdconfig.h devices.h server.h thermferm.h simulator.h lcd-pcf8574.h lcd-buffer.h panel.h futil.h xutil.h
+thermferm.o: lock.h logger.h rdconfig.h devices.h server.h thermferm.h simulator.h lcd-pcf8574.h lcd-buffer.h panel.h futil.h xutil.h pid.h
+pid.o: thermferm.h pid.h
 xutil.o: thermferm.h xutil.h
 server.o: rdconfig.h thermferm.h logger.h devices.h server.h lcd-buffer.h xutil.h
 simulator.o: thermferm.h simulator.h

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/thermferm/pid.c	Thu Feb 19 14:42:55 2015 +0100
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ * Copyright (C) 2015
+ *   
+ * Michiel Broek <mbroek at mbse dot eu>
+ *
+ * This file is part of the mbsePi-apps
+ *
+ * This is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation; either version 2, or (at your option) any
+ * later version.
+ *
+ * mbsePi-apps is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with ThermFerm; see the file COPYING.  If not, write to the Free
+ * Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ *****************************************************************************/
+
+#include "thermferm.h"
+#include "pid.h"
+
+
+double UpdatePID(pid_var *pid, double error, double position)
+{
+    double	pTerm, dTerm, iTerm;
+
+    pTerm = pid->pGain * error;
+
+    /*
+     * Calculate the integral state with appopriate limiting
+     */
+    pid->iState += error;
+    if (pid->iState > pid->iMax)
+	pid->iState = pid->iMax;
+    else if (pid->iState < pid->iMin)
+	pid->iState = pid->iMin;
+
+    iTerm = pid->iGain * pid->iState;
+
+    dTerm = pid->dGain * (pid->dState - position);
+    pid->dState = position;
+
+    return pTerm + dTerm + iTerm;
+}
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/thermferm/pid.h	Thu Feb 19 14:42:55 2015 +0100
@@ -0,0 +1,17 @@
+#ifndef	PID_H
+#define	PID_H
+
+typedef struct _pid_var {
+	double		iState;		/* Integrator state			*/
+	double		dState;		/* Last measured value input		*/
+	double		iMax;		/* Maximum allowable integrator state	*/
+	double		iMin;		/* Minimum allowable integrator state	*/
+	double		iGain;		/* Integral gain			*/
+	double		pGain;		/* Proportional gain			*/
+	double		dGain;		/* Derivative gain			*/
+} pid_var;
+
+
+double UpdatePID( pid_var *, double, double);
+
+#endif

--- a/thermferm/thermferm.c	Tue Feb 17 23:27:47 2015 +0100
+++ b/thermferm/thermferm.c	Thu Feb 19 14:42:55 2015 +0100
@@ -32,6 +32,7 @@
 #include "panel.h"
 #include "futil.h"
 #include "xutil.h"
+#include "pid.h"
 
 
 int			my_shutdown = FALSE;
@@ -845,6 +846,8 @@
 #endif
     int			current_step, valid_step, time_until_now;
     float		previous_target;
+    pid_var		*pid;
+
 
     if (lockprog((char *)"thermferm")) {
 	syslog(LOG_NOTICE, "Can't lock");
@@ -1307,7 +1310,7 @@
 	     */
 	    for (unit = Config.units; unit; unit = unit->next) {
 		if ((unit->mode == UNITMODE_FRIDGE) || (unit->mode == UNITMODE_BEER) || (unit->mode == UNITMODE_PROFILE)) {
-		    double	pTerm, dTerm, iTerm;
+//		    double	pTerm, dTerm, iTerm;
 
 		    sp = unit->beer_set;
 		    pv = unit->beer_temperature / 1000.0;
@@ -1325,19 +1328,47 @@
 		    if (P_err < unit->idle_rangeH && P_err > unit->idle_rangeL) {
 			P_err = 0.0;
 		    }
-		    pTerm = unit->PID_Kp * P_err;
+
+		    pid = (pid_var *)malloc(sizeof(pid_var));
+		    pid->dState = unit->PID_dState;
+		    pid->iState = unit->PID_iState;
+		    pid->iMax = 100.0;
+		    pid->iMin = -100.0;
+		    pid->pGain = unit->PID_Kp;
+		    pid->iGain = unit->PID_Ki;
+		    pid->dGain = unit->PID_Kd;
+
+		    Out = UpdatePID(pid, P_err, pv);
+
+		    if (Out > 100.0)
+			Out = 100.0;
+		    if (Out < -100.0)
+			Out = -100.0;
+
+		    if (debug)
+			fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n",
+				sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out);
+		    if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) {
+			syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f dState=%.2f iState=%.2f Out=%.2f",
+				sp, pv, P_err, unit->PID_dState, unit->PID_iState, Out);
+		    }
+
+		    unit->PID_iState = pid->iState;
+		    unit->PID_dState = pid->dState;
+
+//		    pTerm = unit->PID_Kp * P_err;
 
 		    /*
 		     * Calculate the intergral state with appropriate limiting
 		     */
-		    unit->PID_iState += P_err;
+//		    unit->PID_iState += P_err;
 		    /* Limit integral error */
-		    if (unit->PID_iState < -100.0)
-			unit->PID_iState = -100.0;
-		    if (unit->PID_iState > 100.0)
-			unit->PID_iState = 100.0;
-		    iTerm = unit->PID_iState * unit->PID_Ki;
-		    dTerm = (unit->PID_dState - pv) * unit->PID_Kd;
+//		    if (unit->PID_iState < -100.0)
+//			unit->PID_iState = -100.0;
+//		    if (unit->PID_iState > 100.0)
+//			unit->PID_iState = 100.0;
+//		    iTerm = unit->PID_iState * unit->PID_Ki;
+//		    dTerm = (unit->PID_dState - pv) * unit->PID_Kd;
 
 		    /*
 		     * A postive value means heating, a negative value cooling.
@@ -1346,19 +1377,19 @@
 		     * Increase Kd until a little damping.
 		     * Increase Ki after Kp and Kd are set until longterm convergence.
 		     */
-		    Out = pTerm + dTerm + iTerm;
-		    if (Out > 100.0)
-			Out = 100.0;
-		    if (Out < -100.0)
-			Out = -100.0;
-		    if (debug)
-		    	fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n",
-					sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out);
-		    if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) {
-		    	syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f dState=%.2f iState=%.2f pTerm=%.2f iTerm=%.2f dTerm=%.2f Out=%.2f",
-					sp, pv, P_err, unit->PID_dState, unit->PID_iState, pTerm, iTerm, dTerm, Out);
-		    }
-		    unit->PID_dState = pv;
+//		    Out = pTerm + dTerm + iTerm;
+//		    if (Out > 100.0)
+//			Out = 100.0;
+//		    if (Out < -100.0)
+//			Out = -100.0;
+//		    if (debug)
+//		    	fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n",
+//					sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out);
+//		    if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) {
+//		    	syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f dState=%.2f iState=%.2f pTerm=%.2f iTerm=%.2f dTerm=%.2f Out=%.2f",
+//					sp, pv, P_err, unit->PID_dState, unit->PID_iState, pTerm, iTerm, dTerm, Out);
+//		    }
+//		    unit->PID_dState = pv;
 
 		    if (unit->heater_address) {
 			if (Out >= 1) {