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adding pid_control_window parameter, removing stop_integral_windup parameter, fixed api bug

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This commit is contained in:
jbruce12000
2022-05-10 12:21:55 -04:00
parent 8a3cd4253e
commit 6e6c56d3a4
2 changed files with 46 additions and 36 deletions
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lib/oven.py
+30 -18
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@@ -197,12 +197,13 @@ class Oven(threading.Thread):
log.info("Refusing to start profile - thermocouple unknown error")
return
log.info("Running schedule %s" % profile.name)
self.startat = startat * 60
self.runtime = self.startat
self.start_time = datetime.datetime.now() - datetime.timedelta(seconds=self.startat)
self.profile = profile
self.totaltime = profile.get_duration()
self.state = "RUNNING"
self.start_time = datetime.datetime.now()
self.startat = startat * 60
log.info("Running schedule %s starting at %d minutes" % (profile.name,startat))
log.info("Starting")
def abort_run(self):
@@ -215,25 +216,23 @@ class Oven(threading.Thread):
temp = self.board.temp_sensor.temperature + \
config.thermocouple_offset
# kiln too cold, wait for it to heat up
if self.target - temp > config.kiln_must_catch_up_max_error:
if self.target - temp > config.pid_control_window:
log.info("kiln must catch up, too cold, shifting schedule")
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
if temp - self.target > config.kiln_must_catch_up_max_error:
if temp - self.target > config.pid_control_window:
log.info("kiln must catch up, too hot, shifting schedule")
self.start_time = datetime.datetime.now() - datetime.timedelta(milliseconds = self.runtime * 1000)
self.pid.iterm = 0
def update_runtime(self):
runtime_delta = datetime.datetime.now() - self.start_time
if runtime_delta.total_seconds() < 0:
runtime_delta = datetime.timedelta(0)
if self.startat > 0:
self.runtime = self.startat + runtime_delta.total_seconds()
else:
self.runtime = runtime_delta.total_seconds()
self.runtime = runtime_delta.total_seconds()
def update_target_temp(self):
self.target = self.profile.get_target_temperature(self.runtime)
@@ -481,13 +480,24 @@ class PID():
window_size = 100
error = float(setpoint - ispoint)
if self.ki > 0:
if config.stop_integral_windup == True:
if abs(self.kp * error) < window_size:
self.iterm += (error * timeDelta * (1/self.ki))
else:
self.iterm += (error * timeDelta * (1/self.ki))
# this removes the need for config.stop_integral_windup
# it turns the controller into a binary on/off switch
# any time it's outside the window defined by
# config.pid_control_window
if error < (-1 * config.pid_control_window):
log.info("kiln outside pid control window, max cooling")
self.lastErr = error
self.lastNow = now
return 0
if error > (1 * config.pid_control_window):
log.info("kiln outside pid control window, max heating")
self.lastErr = error
self.lastNow = now
return 1
icomp = (error * timeDelta * (1/self.ki))
self.iterm += (error * timeDelta * (1/self.ki))
dErr = (error - self.lastErr) / timeDelta
output = self.kp * error + self.iterm + self.kd * dErr
@@ -524,9 +534,11 @@ class PID():
# ((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" % (out4logs,
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))
self.kd * dErr,
icomp,
error))
return output