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ETB auto-PID: auto set values in TS (#1400) 

* switch to thread

* actually use default frequency define

* crank ADC too

* make space in RAM

* remove TS field

* this should work for test

* auto cal

* wire up bench testing

* auto gains too

* s

* fix

* rearrange a bit

* inject

* remove unused bit

* mock repair

* move

* add maintainconstantvalue

* add disable button

* cleaning

* move state inside

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2020-05-06 05:39:02 -07:00 committed by GitHub
parent 484ab6aa97
commit 20a95bdcf1
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 69 additions and 23 deletions
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58
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -222,29 +222,59 @@ expected<percent_t> EtbController::getClosedLoopAutotune(percent_t actualThrottl
// Publish to TS state
#if EFI_TUNER_STUDIO
// Amplitude of input (duty cycle %)
float b = 2 * autotuneAmplitude;
// Ultimate gain per A-H relay tuning rule
float ku = 4 * b / (3.14159f * m_a);
// The multipliers below are somewhere near the "no overshoot"
// and "some overshoot" flavors of the Ziegler-Nichols method
// Kp
float kp = 0.35f * ku;
float ki = 0.25f * ku / m_tu;
float kd = 0.08f * ku * m_tu;
// Every 5 cycles (of the throttle), cycle to the next value
if (m_autotuneCounter == 5) {
m_autotuneCounter = 0;
m_autotuneCurrentParam++;
if (m_autotuneCurrentParam >= 3) {
m_autotuneCurrentParam = 0;
}
}
m_autotuneCounter++;
// Multiplex 3 signals on to the {mode, value} format
tsOutputChannels.calibrationMode = static_cast<TsCalMode>(m_autotuneCurrentParam + 3);
switch (m_autotuneCurrentParam) {
case 0:
tsOutputChannels.calibrationValue = kp;
break;
case 1:
tsOutputChannels.calibrationValue = ki;
break;
case 2:
tsOutputChannels.calibrationValue = kd;
break;
}
// Also output to debug channels if configured
if (engineConfiguration->debugMode == DBG_ETB_AUTOTUNE) {
// a - amplitude of output (TPS %)
tsOutputChannels.debugFloatField1 = m_a;
float b = 2 * autotuneAmplitude;
// b - amplitude of input (Duty cycle %)
tsOutputChannels.debugFloatField2 = b;
// Tu - oscillation period (seconds)
tsOutputChannels.debugFloatField3 = m_tu;
// Ultimate gain per A-H relay tuning rule
// Ku
float ku = 4 * b / (3.14159f * m_a);
tsOutputChannels.debugFloatField4 = ku;
// The multipliers below are somewhere near the "no overshoot"
// and "some overshoot" flavors of the Ziegler-Nichols method
// Kp
tsOutputChannels.debugFloatField5 = 0.35f * ku;
// Ki
tsOutputChannels.debugFloatField6 = 0.25f * ku / m_tu;
// Kd
tsOutputChannels.debugFloatField7 = 0.08f * ku * m_tu;
tsOutputChannels.debugFloatField5 = kp;
tsOutputChannels.debugFloatField6 = ki;
tsOutputChannels.debugFloatField7 = kd;
}
#endif
}

10
firmware/controllers/actuators/electronic_throttle.h
View File

@ -88,8 +88,14 @@ private:
efitick_t m_cycleStartTime = 0;
float m_minCycleTps = 0;
float m_maxCycleTps = 0;
float m_a = 0;
float m_tu = 0;
// Autotune measured parameters: gain and ultimate period
// These are set to correct order of magnitude starting points
// so we converge more quickly on the correct values
float m_a = 8;
float m_tu = 0.1f;
uint8_t m_autotuneCounter = 0;
uint8_t m_autotuneCurrentParam = 0;
};
void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);

9
firmware/controllers/bench_test.cpp
View File

@ -259,9 +259,6 @@ static void handleCommandX14(uint16_t index) {
case 0xB:
starterRelayBench();
return;
case 0xC:
engine->etbAutoTune = true;
return;
case 0xD:
engine->directSelfStimulation = true;
return;
@ -269,6 +266,12 @@ static void handleCommandX14(uint16_t index) {
case 0xE:
etbAutocal(0);
return;
case 0xC:
engine->etbAutoTune = true;
return;
case 0x10:
engine->etbAutoTune = false;
return;
#endif
case 0xF:
engine->directSelfStimulation = false;

15
firmware/tunerstudio/rusefi.input
View File

@ -414,6 +414,10 @@ fileVersion = { @@TS_FILE_VERSION@@ }
maintainConstantValue = tpsMax, { (calibrationMode == 1 ) ? calibrationValue : tpsMax }
maintainConstantValue = tpsMin, { (calibrationMode == 2 ) ? calibrationValue : tpsMin }
maintainConstantValue = etb_pFactor, { (calibrationMode == 3 ) ? calibrationValue : etb_pFactor }
maintainConstantValue = etb_iFactor, { (calibrationMode == 4 ) ? calibrationValue : etb_iFactor }
maintainConstantValue = etb_dFactor, { (calibrationMode == 5 ) ? calibrationValue : etb_dFactor }
requiresPowerCycle = warningLedPin
requiresPowerCycle = runningLedPin
requiresPowerCycle = binarySerialTxPin
@ -1488,7 +1492,6 @@ cmd_test_inj14 = "w\x00\x13\x00\x0e"
cmd_test_inj15 = "w\x00\x13\x00\x0f"
cmd_test_inj16 = "w\x00\x13\x00\x10"
;
cmd_test_fuel_pump = "w\x00\x14\x00\x01"
cmd_calibrate_tps_1_closed = "w\x00\x14\x00\x02"
cmd_calibrate_tps_1_wot = "w\x00\x14\x00\x03"
@ -1504,6 +1507,7 @@ cmd_etb_autotune = "w\x00\x14\x00\x0C"
cmd_enable_self_stim = "w\x00\x14\x00\x0D"
cmb_etb_auto_calibrate = "w\x00\x14\x00\x0E"
cmd_disable_self_stim = "w\x00\x14\x00\x0F"
cmd_etb_autotune_stop = "w\x00\x14\x00\x10"
cmd_test_radiator_fan = "w\x00\x15\x00\x01"
cmd_test_check_engine_light = "w\x00\x16\x00\x01"
@ -2819,11 +2823,14 @@ cmd_set_engine_type_default = "w\x00\x31\x00\x00"
panel = hbridgeHardware, { throttlePedalPositionAdcChannel != 16 || useStepperIdle && useHbridges }
dialog = etbAutotune, "PID Autotune"
field = "!Set debug mode below to 'ETB Autotune' to show results"
field = "Debug mode", debugMode
commandButton = "ETB PID Autotune", cmd_etb_autotune
commandButton = "Start ETB PID Autotune", cmd_etb_autotune
commandButton = "Stop ETB PID Autotune", cmd_etb_autotune_stop
commandButton = "Auto Calibrate TPS", cmb_etb_auto_calibrate
field = "!Set debug mode below to 'ETB Autotune' to show more detail"
field = "Debug mode", debugMode
dialog = etbDialogRight
panel = etbIdleDialog
panel = etbPidDialog