PolyCraft/kiln-controller
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moving logging to one place. make logging output more verbose. remove code to zero out iterm if out of pid window.

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This commit is contained in:
jbruce 2022-05-12 22:46:45 -04:00
parent 3d0ced062c
commit 165a8b16dd
2 changed files with 35 additions and 34 deletions
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2
config.py
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@ -65,7 +65,7 @@ sensor_time_wait = 2
# your specific kiln. Note that the integral pid_ki is # your specific kiln. Note that the integral pid_ki is
# inverted so that a smaller number means more integral action. # inverted so that a smaller number means more integral action.
pid_kp = 25 # Proportional 25,200,200 pid_kp = 25 # Proportional 25,200,200
pid_ki = 1 # Integral pid_ki = 20 # Integral
pid_kd = 200 # Derivative pid_kd = 200 # Derivative

67
lib/oven.py
View File

@ -219,12 +219,10 @@ class Oven(threading.Thread):
if self.target - temp > config.pid_control_window: if self.target - temp > config.pid_control_window:
log.info("kiln must catch up, too cold, shifting schedule") log.info("kiln must catch up, too cold, shifting schedule")
self.start_time = datetime.datetime.now() - datetime.timedelta(milliseconds = self.runtime * 1000) self.start_time = datetime.datetime.now() - datetime.timedelta(milliseconds = self.runtime * 1000)
self.pid.iterm = 0
# kiln too hot, wait for it to cool down # kiln too hot, wait for it to cool down
if temp - self.target > config.pid_control_window: if temp - self.target > config.pid_control_window:
log.info("kiln must catch up, too hot, shifting schedule") log.info("kiln must catch up, too hot, shifting schedule")
self.start_time = datetime.datetime.now() - datetime.timedelta(milliseconds = self.runtime * 1000) self.start_time = datetime.datetime.now() - datetime.timedelta(milliseconds = self.runtime * 1000)
self.pid.iterm = 0
def update_runtime(self): def update_runtime(self):
@ -363,15 +361,20 @@ class SimulatedOven(Oven):
int(self.p_env))) int(self.p_env)))
time_left = self.totaltime - self.runtime time_left = self.totaltime - self.runtime
log.info("temp=%.2f, target=%.2f, pid=%.3f, heat_on=%.2f, heat_off=%.2f, run_time=%d, total_time=%d, time_left=%d" %
(self.board.temp_sensor.temperature + config.thermocouple_offset, log.info("temp=%.2f, target=%.2f, error=%.2f, pid=%.2f, p=%.2f, i=%.2f, d=%.2f, heat_on=%.2f, heat_off=%.2f, run_time=%d, total_time=%d, time_left=%d" %
self.target, (self.pid.pidstats['ispoint'],
pid, self.pid.pidstats['setpoint'],
heat_on, self.pid.pidstats['err'],
heat_off, self.pid.pidstats['pid'],
self.runtime, self.pid.pidstats['p'],
self.totaltime, self.pid.pidstats['i'],
time_left)) self.pid.pidstats['d'],
heat_on,
heat_off,
self.runtime,
self.totaltime,
time_left))
# we don't actually spend time heating & cooling during # we don't actually spend time heating & cooling during
# a simulation, so sleep. # a simulation, so sleep.
@ -412,15 +415,20 @@ class RealOven(Oven):
if heat_off: if heat_off:
self.output.cool(heat_off) self.output.cool(heat_off)
time_left = self.totaltime - self.runtime time_left = self.totaltime - self.runtime
log.info("temp=%.2f, target=%.2f, pid=%.3f, heat_on=%.2f, heat_off=%.2f, run_time=%d, total_time=%d, time_left=%d" %
(self.board.temp_sensor.temperature + config.thermocouple_offset, log.info("temp=%.2f, target=%.2f, error=%.2f, pid=%.2f, p=%.2f, i=%.2f, d=%.2f, heat_on=%.2f, heat_off=%.2f, run_time=%d, total_time=%d, time_left=%d" %
self.target, (self.pid.pidstats['ispoint'],
pid, self.pid.pidstats['setpoint'],
heat_on, self.pid.pidstats['err'],
heat_off, self.pid.pidstats['pid'],
self.runtime, self.pid.pidstats['p'],
self.totaltime, self.pid.pidstats['i'],
time_left)) self.pid.pidstats['d'],
heat_on,
heat_off,
self.runtime,
self.totaltime,
time_left))
class Profile(): class Profile():
def __init__(self, json_data): def __init__(self, json_data):
@ -489,10 +497,11 @@ class PID():
output = 0 output = 0
out4logs = 0 out4logs = 0
dErr = 0 dErr = 0
if error < (-1 * config.pid_control_window): if error < (-1 * config.pid_control_window):
log.info("kiln outside pid control window, max cooling") log.info("kiln outside pid control window, max cooling")
output = 0 output = 0
# it is possible to set self.iterm=0 here and also below
# but I dont think its needed
elif error > (1 * config.pid_control_window): elif error > (1 * config.pid_control_window):
log.info("kiln outside pid control window, max heating") log.info("kiln outside pid control window, max heating")
output = 1 output = 1
@ -508,6 +517,10 @@ class PID():
self.lastErr = error self.lastErr = error
self.lastNow = now self.lastNow = now
# no active cooling
if output < 0:
output = 0
self.pidstats = { self.pidstats = {
'time': time.mktime(now.timetuple()), 'time': time.mktime(now.timetuple()),
'timeDelta': timeDelta, 'timeDelta': timeDelta,
@ -525,16 +538,4 @@ class PID():
'out': output, 'out': output,
} }
# if out4logs > 0:
# log.info("pid percents pid=%0.2f p=%0.2f i=%0.2f d=%0.2f" % (out4logs,
# ((self.kp * error)/out4logs)*100,
# (self.iterm/out4logs)*100,
# ((self.kd * dErr)/out4logs)*100))
log.info("pid actuals pid=%0.2f p=%0.2f i=%0.2f d=%0.2f icomp=%0.2f error=%0.2f" % (out4logs,
self.kp * error,
self.iterm,
self.kd * dErr,
icomp,
error))
return output return output