mirror of https://github.com/rusefi/rusefi.git
alternator uses closed loop controller
This commit is contained in:
Matthew Kennedy
rusefillc
parent
02f1295688
commit
e15f9257ff
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@ -20,25 +20,23 @@
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#endif /* HAS_OS_ACCESS */
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static SimplePwm alternatorControl("alt");
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static Pid alternatorPid(&persistentState.persistentConfiguration.engineConfiguration.alternatorControl);
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static percent_t currentAltDuty;
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void AlternatorController::onFastCallback() {
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if (!isBrainPinValid(engineConfiguration->alternatorControlPin)) {
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return;
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}
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static bool shouldResetPid = false;
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// this block could be executed even in on/off alternator control mode
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// but at least we would reflect latest state
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#if EFI_TUNER_STUDIO
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alternatorPid.postState(engine->outputChannels.alternatorStatus);
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#endif /* EFI_TUNER_STUDIO */
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AlternatorController::AlternatorController() {
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alternatorPid.initPidClass(&engineConfiguration->alternatorControl);
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}
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expected<float> AlternatorController::observePlant() {
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auto vBatt = Sensor::get(SensorType::BatteryVoltage);
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// if somehow battery voltage isn't valid
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if (!vBatt)
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return unexpected;
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return vBatt.Value;
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update();
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}
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expected<float> AlternatorController::getSetpoint() {
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// check if the engine is not running
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bool alternatorShouldBeEnabledAtCurrentRpm = Sensor::getOrZero(SensorType::Rpm) > engineConfiguration->cranking.rpm;
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if (!engineConfiguration->isAlternatorControlEnabled || !alternatorShouldBeEnabledAtCurrentRpm) {
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@ -48,80 +46,36 @@ expected<float> AlternatorController::getSetpoint() {
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return engineConfiguration->targetVBatt;
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}
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expected<percent_t> AlternatorController::getOpenLoop(float target) {
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UNUSED(target);
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return 0;
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expected<float> AlternatorController::observePlant() {
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return Sensor::get(SensorType::BatteryVoltage);
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}
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expected<percent_t> AlternatorController::getClosedLoop(float targetVoltage, float vBattVoltage) {
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percent_t altDuty = alternatorPid.getOutput(targetVoltage, vBattVoltage, FAST_CALLBACK_PERIOD_MS / 1000.0f);
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expected<percent_t> AlternatorController::getOpenLoop(float /*target*/) {
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// see "idle air Bump for AC" comment
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return engine->module<AcController>().unmock().acButtonState ? engineConfiguration->acRelayAlternatorDutyAdder : 0;
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}
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// this block could be executed even in on/off alternator control mode
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// but at least we would reflect latest state
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#if EFI_TUNER_STUDIO
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alternatorPid.postState(engine->outputChannels.alternatorStatus);
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#endif /* EFI_TUNER_STUDIO */
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// see "idle air Bump for AC" comment
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int acDutyBump = engine->module<AcController>().unmock().acButtonState ? engineConfiguration->acRelayAlternatorDutyAdder : 0;
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altDuty += acDutyBump;
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return altDuty;
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expected<percent_t> AlternatorController::getClosedLoop(float setpoint, float observation) {
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return alternatorPid.getOutput(setpoint, observation, FAST_CALLBACK_PERIOD_MS / 1000.0f);
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}
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void AlternatorController::setOutput(expected<percent_t> outputValue) {
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if (outputValue) {
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currentAltDuty = outputValue.Value;
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alternatorControl.setSimplePwmDutyCycle(PERCENT_TO_DUTY(outputValue.Value));
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} else {
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// Shut off output if not needed
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// turn off in case of fault and reset
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alternatorPid.reset();
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alternatorControl.setSimplePwmDutyCycle(0);
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// we need to avoid accumulating iTerm while the alternator is not working
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pidReset();
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}
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}
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void AlternatorController::pidReset() {
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alternatorPid.reset();
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}
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void AlternatorController::onFastCallback() {
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if (!isBrainPinValid(engineConfiguration->alternatorControlPin)) {
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return;
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}
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#if ! EFI_UNIT_TEST
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if (shouldResetPid) {
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pidReset();
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shouldResetPid = false;
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}
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#endif
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ClosedLoopController::update();
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}
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void showAltInfo(void) {
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efiPrintf("alt=%s @%s t=%dms", boolToString(engineConfiguration->isAlternatorControlEnabled),
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hwPortname(engineConfiguration->alternatorControlPin),
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engineConfiguration->alternatorControl.periodMs);
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efiPrintf("p=%.2f/i=%.2f/d=%.2f offset=%.2f", engineConfiguration->alternatorControl.pFactor,
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0, 0, engineConfiguration->alternatorControl.offset); // todo: i & d
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efiPrintf("vbatt=%.2f/duty=%.2f/target=%.2f", Sensor::getOrZero(SensorType::BatteryVoltage), currentAltDuty,
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engineConfiguration->targetVBatt);
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}
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void setAltPFactor(float p) {
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engineConfiguration->alternatorControl.pFactor = p;
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efiPrintf("setAltPid: %.2f", p);
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engine->module<AlternatorController>()->pidReset();
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showAltInfo();
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}
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void AlternatorController::onConfigurationChange(engine_configuration_s const * previousConfiguration) {
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shouldResetPid = !alternatorPid.isSame(&previousConfiguration->alternatorControl);
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if(!alternatorPid.isSame(&previousConfiguration->alternatorControl)) {
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alternatorPid.reset();
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}
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}
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void initAlternatorCtrl() {
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addConsoleAction("altinfo", showAltInfo);
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if (!isBrainPinValid(engineConfiguration->alternatorControlPin))
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return;
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@ -10,31 +10,21 @@
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#pragma once
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void initAlternatorCtrl();
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#include "engine_module.h"
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#include "closed_loop_controller.h"
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void setAltPFactor(float p);
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void setAltIFactor(float p);
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void setAltDFactor(float p);
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void showAltInfo(void);
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void initAlternatorCtrl();
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class AlternatorController : public EngineModule, public ClosedLoopController<float, percent_t> {
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public:
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AlternatorController();
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void pidReset();
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// EngineModule implementation
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void onFastCallback() override;
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void onConfigurationChange(engine_configuration_s const * previousConfiguration) override;
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void onConfigurationChange(engine_configuration_s const* previousConfiguration) override;
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// ClosedLoopController implementation
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expected<float> getSetpoint() override;
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protected:
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expected<float> observePlant() override;
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expected<percent_t> getOpenLoop(float setpoint) override;
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expected<percent_t> getClosedLoop(float targetVoltage, float vBattVoltage) override;
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expected<float> getSetpoint() override;
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expected<percent_t> getOpenLoop(float target) override;
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expected<percent_t> getClosedLoop(float setpoint, float observation) override;
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void setOutput(expected<percent_t> outputValue) override;
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private:
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Pid alternatorPid;
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};
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@ -785,29 +785,13 @@ static void setValue(const char *paramStr, const char *valueStr) {
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currentI++;
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}
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#if EFI_ALTERNATOR_CONTROL
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if (strEqualCaseInsensitive(paramStr, "alt_t")) {
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if (valueI > 10) {
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engineConfiguration->alternatorControl.periodMs = valueI;
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}
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showAltInfo();
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} else if (strEqualCaseInsensitive(paramStr, "alt_offset")) {
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engineConfiguration->alternatorControl.offset = valueI;
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} else if (strEqualCaseInsensitive(paramStr, "alt_p")) {
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setAltPFactor(valueF);
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} else
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#endif // EFI_ALTERNATOR_CONTROL
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if (strEqualCaseInsensitive(paramStr, "warning_period")) {
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engineConfiguration->warningPeriod = valueI;
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} else if (strEqualCaseInsensitive(paramStr, "dwell")) {
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setConstantDwell(valueF);
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} else if (strEqualCaseInsensitive(paramStr, CMD_ENGINESNIFFERRPMTHRESHOLD)) {
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engineConfiguration->engineSnifferRpmThreshold = valueI;
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// migrate to new laucnh fields?
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// } else if (strEqualCaseInsensitive(paramStr, "step1rpm")) {
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// engineConfiguration->step1rpm = valueI;
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// } else if (strEqualCaseInsensitive(paramStr, "step1timing")) {
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// engineConfiguration->step1timing = valueI;
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} else if (strEqualCaseInsensitive(paramStr, "tps_max")) {
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engineConfiguration->tpsMax = valueI;
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} else if (strEqualCaseInsensitive(paramStr, "tps_min")) {
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