etb autotune (#1274)
* Astrom-Hagglund * enums * comments * dead * fix * changed enum * ts guard * safety * etb autotune debug channels Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy
GitHub
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52a0bb375f
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9bbb7bc497
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@ -89,10 +89,6 @@
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#define ETB_MAX_COUNT 2
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#endif /* ETB_MAX_COUNT */
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static pid_s tuneWorkingPidSettings;
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static Pid tuneWorkingPid(&tuneWorkingPidSettings);
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static PID_AutoTune autoTune;
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static LoggingWithStorage logger("ETB");
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static pedal2tps_t pedal2tpsMap("Pedal2Tps", 1);
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@ -193,27 +189,6 @@ void EtbController::PeriodicTask() {
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return;
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}
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if (engine->etbAutoTune) {
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autoTune.input = actualThrottlePosition.Value;
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bool result = autoTune.Runtime(&logger);
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tuneWorkingPid.updateFactors(autoTune.output, 0, 0);
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float value = tuneWorkingPid.getOutput(50, actualThrottlePosition.Value);
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scheduleMsg(&logger, "AT input=%f output=%f PID=%f", autoTune.input,
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autoTune.output,
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value);
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scheduleMsg(&logger, "AT PID=%f", value);
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m_motor->set(ETB_PERCENT_TO_DUTY(value));
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if (result) {
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scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
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}
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return;
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}
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float rpm = GET_RPM();
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engine->engineState.targetFromTable = pedal2tpsMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, pedalPosition.Value);
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percent_t etbIdleAddition = CONFIG(useETBforIdleControl) ? engine->engineState.idle.etbIdleAddition : 0;
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@ -236,8 +211,80 @@ void EtbController::PeriodicTask() {
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m_pid.iTermMin = engineConfiguration->etb_iTermMin;
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m_pid.iTermMax = engineConfiguration->etb_iTermMax;
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currentEtbDuty = engine->engineState.etbFeedForward +
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m_pid.getOutput(targetPosition, actualThrottlePosition.Value);
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float closedLoop;
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// Only allow autotune with stopped engine
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if (rpm == 0 && engine->etbAutoTune) {
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bool isPositive = actualThrottlePosition.Value > targetPosition;
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float autotuneAmplitude = 15;
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// Bang-bang control the output to induce oscillation
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closedLoop = autotuneAmplitude * (isPositive ? -1 : 1);
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// End of cycle - record & reset
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if (!isPositive && m_lastIsPositive) {
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efitick_t now = getTimeNowNt();
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// Determine period
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efitick_t cycleTime = now - m_cycleStartTime;
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m_cycleStartTime = now;
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// Determine amplitude
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float a = m_maxCycleTps - m_minCycleTps;
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// Reset bounds
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m_minCycleTps = 100;
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m_maxCycleTps = 0;
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// Math is for Åström–Hägglund (relay) auto tuning
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// https://warwick.ac.uk/fac/cross_fac/iatl/reinvention/archive/volume5issue2/hornsey
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// Publish to TS state
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#if EFI_TUNER_STUDIO
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if (engineConfiguration->debugMode == DBG_ETB_AUTOTUNE) {
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// a - amplitude of output (TPS %)
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tsOutputChannels.debugFloatField1 = a;
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float b = 2 * autotuneAmplitude;
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// b - amplitude of input (Duty cycle %)
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tsOutputChannels.debugFloatField2 = b;
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// Tu - oscillation period (seconds)
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float tu = NT2US((float)cycleTime) / 1e6;
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tsOutputChannels.debugFloatField3 = tu;
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// Ultimate gain per A-H relay tuning rule
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// Ku
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float ku = 4 * b / (3.14159f * a);
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tsOutputChannels.debugFloatField4 = ku;
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// The multipliers below are somewhere near the "no overshoot"
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// and "some overshoot" flavors of the Ziegler-Nichols method
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// Kp
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tsOutputChannels.debugFloatField5 = 0.35f * ku;
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// Ki
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tsOutputChannels.debugFloatField6 = 0.25f * ku / tu;
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// Kd
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tsOutputChannels.debugFloatField7 = 0.08f * ku * tu;
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}
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#endif
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}
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m_lastIsPositive = isPositive;
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// Find the min/max of each cycle
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if (actualThrottlePosition.Value < m_minCycleTps) {
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m_minCycleTps = actualThrottlePosition.Value;
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}
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if (actualThrottlePosition.Value > m_maxCycleTps) {
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m_maxCycleTps = actualThrottlePosition.Value;
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}
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} else {
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// Normal case - use PID to compute closed loop part
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closedLoop = m_pid.getOutput(targetPosition, actualThrottlePosition.Value);
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}
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currentEtbDuty = engine->engineState.etbFeedForward + closedLoop;
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m_motor->enable();
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m_motor->set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
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@ -477,15 +524,6 @@ static void setAutoStep(float value) {
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autoTune.SetOutputStep(value);
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}
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static void setAutoPeriod(int period) {
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tuneWorkingPidSettings.periodMs = period;
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autoTune.reset();
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}
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static void setAutoOffset(int offset) {
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tuneWorkingPidSettings.offset = offset;
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autoTune.reset();
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}
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#endif /* EFI_PROD_CODE */
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static const float defaultBiasBins[] = {
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@ -532,11 +570,6 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
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#if 0
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// not alive code
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autoTune.SetOutputStep(0.1);
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#endif
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#if 0 && ! EFI_UNIT_TEST
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percent_t startupThrottlePosition = getTPS(PASS_ENGINE_PARAMETER_SIGNATURE);
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if (absF(startupThrottlePosition - engineConfiguration->etbNeutralPosition) > STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD) {
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@ -569,23 +602,6 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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addConsoleActionNANF(CMD_ETB_DUTY, setThrottleDutyCycle);
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#endif /* EFI_PROD_CODE */
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#if EFI_PROD_CODE && 0
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tuneWorkingPidSettings.pFactor = 1;
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tuneWorkingPidSettings.iFactor = 0;
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tuneWorkingPidSettings.dFactor = 0;
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// tuneWorkingPidSettings.offset = 10; // todo: not hard-coded value
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//todo tuneWorkingPidSettings.periodMs = 10;
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tuneWorkingPidSettings.minValue = 0;
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tuneWorkingPidSettings.maxValue = 100;
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tuneWorkingPidSettings.periodMs = 100;
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// this is useful once you do "enable etb_auto"
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addConsoleActionF("set_etbat_output", setTempOutput);
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addConsoleActionF("set_etbat_step", setAutoStep);
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addConsoleActionI("set_etbat_period", setAutoPeriod);
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addConsoleActionI("set_etbat_offset", setAutoOffset);
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#endif /* EFI_PROD_CODE */
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etbPidReset(PASS_ENGINE_PARAMETER_SIGNATURE);
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for (int i = 0 ; i < engine->etbActualCount; i++) {
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@ -48,6 +48,12 @@ private:
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DcMotor *m_motor;
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Pid m_pid;
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bool m_shouldResetPid = false;
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// Autotune helpers
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bool m_lastIsPositive = false;
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efitick_t m_cycleStartTime = 0;
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float m_minCycleTps = 0;
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float m_maxCycleTps = 0;
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};
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void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
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@ -535,8 +535,8 @@ case DBG_START_STOP:
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return "DBG_START_STOP";
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case DBG_LAUNCH:
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return "DBG_LAUNCH";
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case DBG_39:
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return "DBG_39";
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case DBG_ETB_AUTOTUNE:
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return "DBG_ETB_AUTOTUNE";
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case DBG_40:
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return "DBG_40";
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case DBG_ALTERNATOR_PID:
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@ -675,7 +675,7 @@ typedef enum {
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DBG_BOOST = 36,
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DBG_START_STOP = 37,
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DBG_LAUNCH = 38,
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DBG_39 = 39,
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DBG_ETB_AUTOTUNE = 39,
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DBG_40 = 40,
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Force_4_bytes_size_debug_mode_e = ENUM_32_BITS,
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@ -202,7 +202,7 @@ float baseFuel;+Base duration of the fuel injection during cranking, this is mod
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int16_t rpm;+This sets the RPM limit below which the ECU will use cranking fuel and ignition logic, typically this is around 350-450rpm. \nset cranking_rpm X;"RPM", 1, 0, 0, 3000, 0
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end_struct
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#define debug_mode_e_enum "Alternator PID", "TPS acceleration enrichment", "INVALID", "Idle Control", "Engine Load accl enrich", "Trigger Counters", "FSIO_ADC", "AUX_PID_1", "VVT input", "Cranking", "Timing", "Closed-loop fuel corr PID", "VSS", "SD card", "sr5", "Knock", "mode16", "Electronic Throttle", "Executor", "Bench Test / TS commands", "Aux Valves", "Analog inputs #1", "INSTANT_RPM", "FSIO_EXPRESSION", "Status", "CJ125", "CAN", "MAP", "Metrics", "ETB#2", "Ion Sense", "TLE8888", "Analog inputs #2", "Dwell Metric", "INVALID", "ETB Logic", "Boost Control", "Start/Stop", "Launch", "Mode39", "Mode40"
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#define debug_mode_e_enum "Alternator PID", "TPS acceleration enrichment", "INVALID", "Idle Control", "Engine Load accl enrich", "Trigger Counters", "FSIO_ADC", "AUX_PID_1", "VVT input", "Cranking", "Timing", "Closed-loop fuel corr PID", "VSS", "SD card", "sr5", "Knock", "mode16", "Electronic Throttle", "Executor", "Bench Test / TS commands", "Aux Valves", "Analog inputs #1", "INSTANT_RPM", "FSIO_EXPRESSION", "Status", "CJ125", "CAN", "MAP", "Metrics", "ETB#2", "Ion Sense", "TLE8888", "Analog inputs #2", "Dwell Metric", "INVALID", "ETB Logic", "Boost Control", "Start/Stop", "Launch", "ETB Autotune", "Mode40"
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custom debug_mode_e 4 bits, U32, @OFFSET@, [0:7], @@debug_mode_e_enum@@
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#define vvt_mode_e_enum "First half", "Second half", "2GZ", "Miata NB2", "mode4", "mode5", "mode6", "mode7"
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@ -352,21 +352,21 @@ fileVersion = { @@TS_FILE_VERSION@@ }
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; wall of debug mode :)
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; https://rusefi.com/wiki/index.php?title=Manual:Debug_fields
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; 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38
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; Alternator TPS Acceleration Warmup-Pid Idle Engine Load Acc Trigger Counters VVT Cranking Ignition Timing ETB PID CJ125 CAN TLE8888 Boost Start Launcher
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debugFieldF1List = bits, U08, [0:7], "Controller Output", "From TPS", "", "Controller Output", "Idle output", "Channel 1 Rise Counter", "", "", "", "", "Ign IAT Corr", "", "", "", "", "", "", "ETB Controller Output", "", "", "df1", "df1", "22df1", "", "23:df1", "CJ125: output", "", "", "", "", "", "", "", "", "", "", "Boost Open Loop Duty", "S unused"
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debugFieldF2List = bits, U08, [0:7], "I-Term", "To TPS", "", "I-Term", "Idle df2", "Channel 2 Rise Counter", "", "", "", "", "Ign CLT Corr", "", "", "", "", "", "", "ETB I-Term", "", "", "df2", "df2", "22df2", "", "23:df2", "CJ125: i-term", "", "", "", "", "", "", "", "", "", "", "Boost Closed Loop Duty","S unused"
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debugFieldF3List = bits, U08, [0:7], "Previous Error", "Current TPS<>TPS", "", "", "Idle df3", "ICU sum", "", "", "", "", "Ign FSIO Adj", "", "", "", "", "", "", "ETB err", "", "", "df3", "df3", "22df3", "", "23:df3", "CJ125: err", "", "", "", "", "", "", "", "", "", "", "", "S unused"
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debugFieldF4List = bits, U08, [0:7], "I Gain", "Extra Fuel", "", "", "Idle df4", "VVT rise", "", "", "", "", "Ign PID Adj", "", "", "", "", "", "", "ETB I setting", "", "", "df4", "df4", "22df4", "", "23:df4", "CJ125: UA", "", "", "", "", "", "", "", "", "", "", "", "S unused"
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debugFieldF5List = bits, U08, [0:7], "D Gain", "df5", "df5", "df5", "Idle df5", "VVT fall", "df5", "", "", "", "", "", "", "", "", "", "", "ETB D setting", "df5", "df5", "df5", "df5", "22df5", "", "23:df5", "CJ125: UR", "", "", "", "", "", "", "", "", "", "", "", "S unused"
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debugFieldF6List = bits, U08, [0:7], "D Term", "", "", "", "Idle df6", "Current Gap", "", "", "", "", "", "", "", "", "", "", "", "ETB df6", "", "", "df6", "df6", "22df6", "", "23:df6", "cj: f7", "", "", "", "", "", "", "", "", "", "", "", "S unused"
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debugFieldF7List = bits, U08, [0:7], "Max-Value", "", "", "", "Idle df7", "", "", "", "", "", "", "", "", "", "", "", "", "ETB df7", "", "", "df7", "df7", "22df7", "", "23:df7", "cj: f7", "", "", "", "", "", "", "", "", "", "", "", "S unused"
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debugFieldI1List = bits, U08, [0:7], "P-Gain", "", "", "", "Idle di1", "Channel 1 Fall Counter", "", "", "", "", "Multispark Count", "", "", "", "", "", "", "ETB P-Gain", "", "", "di1", "di1", "22di1", "", "23:di1", "CJ125: state", "read count","", "", "", "", "SPI Counter", "", "", "", "", "", "Start Count"
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debugFieldI2List = bits, U08, [0:7], "Offset", "", "", "", "Idle di2", "Channel 2 Fall Counter", "", "", "", "", "", "", "", "", "", "", "", "ETB di2", "", "", "di2", "di2", "22di2", "", "23:di2", "", "", "", "", "", "", "Latest Transmit","", "", "", "", "", "S unused"
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debugFieldI3List = bits, U08, [0:7], "", "", "", "", "Idle di3", "Cycle Index", "", "", "", "", "", "", "", "", "", "", "", "ETB di3", "", "", "di3", "di3", "22di3", "", "23:di3", "", "", "", "", "", "", "Latest Received","", "", "", "", "", "S unused"
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debugFieldI4List = bits, U08, [0:7], "", "", "", "", "Idle di4", "Cycle Cnt 1", "", "", "", "", "", "", "", "", "", "", "", "ETB di4", "", "", "di4", "di4", "22di4", "", "23:di4", "", "", "", "", "", "", "Init Count", "", "", "", "", "", "S unused"
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debugFieldI5List = bits, U08, [0:7], "", "", "", "", "Idle di5", "Cycle Cnt 2", "", "", "", "", "", "", "", "", "", "di5", "di5", "ETB di5", "di5", "di5", "di5", "di5", "22di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "S di5"
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[ConstantsExtensions]
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; 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
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; Alternator TPS Acceleration Warmup-Pid Idle Engine Load Acc Trigger Counters VVT Cranking Ignition Timing ETB PID CJ125 CAN TLE8888 Boost Start Launcher ETB Autotune
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debugFieldF1List = bits, U08, [0:7], "Controller Output", "From TPS", "", "Controller Output", "Idle output", "Channel 1 Rise Counter", "", "", "", "", "Ign IAT Corr", "", "", "", "", "", "", "ETB Controller Output", "", "", "df1", "df1", "22df1", "", "23:df1", "CJ125: output", "", "", "", "", "", "", "", "", "", "", "Boost Open Loop Duty", "S unused" "", "Osc Amplitude"
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debugFieldF2List = bits, U08, [0:7], "I-Term", "To TPS", "", "I-Term", "Idle df2", "Channel 2 Rise Counter", "", "", "", "", "Ign CLT Corr", "", "", "", "", "", "", "ETB I-Term", "", "", "df2", "df2", "22df2", "", "23:df2", "CJ125: i-term", "", "", "", "", "", "", "", "", "", "", "Boost Closed Loop Duty","S unused" "", "Duty Amplitude"
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debugFieldF3List = bits, U08, [0:7], "Previous Error", "Current TPS<>TPS", "", "", "Idle df3", "ICU sum", "", "", "", "", "Ign FSIO Adj", "", "", "", "", "", "", "ETB err", "", "", "df3", "df3", "22df3", "", "23:df3", "CJ125: err", "", "", "", "", "", "", "", "", "", "", "", "S unused" "", "Tu"
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debugFieldF4List = bits, U08, [0:7], "I Gain", "Extra Fuel", "", "", "Idle df4", "VVT rise", "", "", "", "", "Ign PID Adj", "", "", "", "", "", "", "ETB I setting", "", "", "df4", "df4", "22df4", "", "23:df4", "CJ125: UA", "", "", "", "", "", "", "", "", "", "", "", "S unused" "", "Ku"
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debugFieldF5List = bits, U08, [0:7], "D Gain", "df5", "df5", "df5", "Idle df5", "VVT fall", "df5", "", "", "", "", "", "", "", "", "", "", "ETB D setting", "df5", "df5", "df5", "df5", "22df5", "", "23:df5", "CJ125: UR", "", "", "", "", "", "", "", "", "", "", "", "S unused" "", "Kp"
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debugFieldF6List = bits, U08, [0:7], "D Term", "", "", "", "Idle df6", "Current Gap", "", "", "", "", "", "", "", "", "", "", "", "ETB df6", "", "", "df6", "df6", "22df6", "", "23:df6", "cj: f7", "", "", "", "", "", "", "", "", "", "", "", "S unused" "", "Ki"
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debugFieldF7List = bits, U08, [0:7], "Max-Value", "", "", "", "Idle df7", "", "", "", "", "", "", "", "", "", "", "", "", "ETB df7", "", "", "df7", "df7", "22df7", "", "23:df7", "cj: f7", "", "", "", "", "", "", "", "", "", "", "", "S unused" "", "Kd"
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debugFieldI1List = bits, U08, [0:7], "P-Gain", "", "", "", "Idle di1", "Channel 1 Fall Counter", "", "", "", "", "Multispark Count", "", "", "", "", "", "", "ETB P-Gain", "", "", "di1", "di1", "22di1", "", "23:di1", "CJ125: state", "read count","", "", "", "", "SPI Counter", "", "", "", "", "", "Start Count" "", ""
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debugFieldI2List = bits, U08, [0:7], "Offset", "", "", "", "Idle di2", "Channel 2 Fall Counter", "", "", "", "", "", "", "", "", "", "", "", "ETB di2", "", "", "di2", "di2", "22di2", "", "23:di2", "", "", "", "", "", "", "Latest Transmit","", "", "", "", "", "S unused" "", ""
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debugFieldI3List = bits, U08, [0:7], "", "", "", "", "Idle di3", "Cycle Index", "", "", "", "", "", "", "", "", "", "", "", "ETB di3", "", "", "di3", "di3", "22di3", "", "23:di3", "", "", "", "", "", "", "Latest Received","", "", "", "", "", "S unused" "", ""
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debugFieldI4List = bits, U08, [0:7], "", "", "", "", "Idle di4", "Cycle Cnt 1", "", "", "", "", "", "", "", "", "", "", "", "ETB di4", "", "", "di4", "di4", "22di4", "", "23:di4", "", "", "", "", "", "", "Init Count", "", "", "", "", "", "S unused" "", ""
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debugFieldI5List = bits, U08, [0:7], "", "", "", "", "Idle di5", "Cycle Cnt 2", "", "", "", "", "", "", "", "", "", "di5", "di5", "ETB di5", "di5", "di5", "di5", "di5", "22di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "di5", "S di5"
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"", ""[ConstantsExtensions]
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; defaultValue is used to provide TunerStudio with a value to use in the case of
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; the constant not yet being initialized. This is primarily important if the
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; constant is used as a variable in the ini.
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