mirror of https://github.com/rusefi/rusefi-1.git
Idle timing uses phase logic, remove falloff (#2169)
* use phase computation * move & simplify implementation * test * bad merge * initialize * wonderful changelog * now unused parameter * put back deadzone * ui * test deadzone Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy
GitHub
parent
5f17896227
commit
7a90692187
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@ -28,6 +28,8 @@ All notable user-facing or behavior-altering changes will be documented in this
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## XXX 2021 Release
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### Breaking Changes
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- Closed loop idle timing behavior changed to no longer fall off control as entering/leaving the idle region. It now sharply engages/disengages upon entering/leaving the idle area.
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- Idle phase logic uses the same idle detection thresholds as the main idle controller instead of its own thresholds.
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### Added
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@ -42,6 +44,7 @@ All notable user-facing or behavior-altering changes will be documented in this
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- Basic fueling-only flex fuel implementation. Automatic adjustment of stoichiometric ratio based on ethanol content, compatible with the common GM/Continental 50-150hz flex fuel sensor 🎉 🎉 🎉
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### Fixed
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- Simplify idle control dialog in TunerStudio
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- microRusEFI outputs are in trouble on configuration change
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- CLT gauge no longer erroneously shows "deg F" by default.
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@ -423,11 +423,8 @@ void setMiataNA6_MAP_MRE(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
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engineConfiguration->idleTimingPid.dFactor = 0.0;
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engineConfiguration->idleTimingPid.minValue = -13;
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engineConfiguration->idleTimingPid.maxValue = 13;
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engineConfiguration->idleTimingPidWorkZone = 150;
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engineConfiguration->idlePidFalloffDeltaRpm = 50;
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engineConfiguration->idleTimingPidDeadZone = 10;
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// EFI_ADC_3: "22 - AN temp 4"
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engineConfiguration->acSwitch = GPIOA_6;
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@ -193,6 +193,10 @@ void setManualIdleValvePosition(int positionPercent) {
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#endif /* EFI_UNIT_TEST */
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void IdleController::init(pid_s* idlePidConfig) {
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m_timingPid.initPidClass(idlePidConfig);
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}
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int IdleController::getTargetRpm(float clt) const {
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// TODO: bump target rpm based on AC and/or fan(s)?
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@ -269,6 +273,32 @@ float IdleController::getOpenLoop(Phase phase, float clt, SensorResult tps) cons
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return interpolateClamped(0, cranking, CONFIG(afterCrankingIACtaperDuration), running, revsSinceStart);
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}
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float IdleController::getIdleTimingAdjustment(int rpm) {
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return getIdleTimingAdjustment(rpm, m_lastTargetRpm, m_lastPhase);
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}
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float IdleController::getIdleTimingAdjustment(int rpm, int targetRpm, Phase phase) {
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// if not enabled, do nothing
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if (!CONFIG(useIdleTimingPidControl)) {
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return 0;
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}
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// If not idling, do nothing
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if (phase != Phase::Idling) {
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m_timingPid.reset();
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return 0;
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}
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// If inside the deadzone, do nothing
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if (absI(rpm - targetRpm) < CONFIG(idleTimingPidDeadZone)) {
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m_timingPid.reset();
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return 0;
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}
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// We're now in the idle mode, and RPM is inside the Timing-PID regulator work zone!
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return m_timingPid.getOutput(targetRpm, rpm, FAST_CALLBACK_PERIOD_MS / 1000.0f);
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}
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static percent_t manualIdleController(float cltCorrection DECLARE_ENGINE_PARAMETER_SUFFIX) {
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percent_t correctedPosition = cltCorrection * CONFIG(manIdlePosition);
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@ -432,9 +462,11 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm,
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// Compute the target we're shooting for
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auto targetRpm = getTargetRpm(clt);
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m_lastTargetRpm = targetRpm;
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// Determine what operation phase we're in - idling or not
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auto phase = determinePhase(rpm, targetRpm, tps);
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m_lastPhase = phase;
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engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;
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@ -529,6 +561,10 @@ void updateIdleControl()
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idleControllerInstance.update();
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}
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float getIdleTimingAdjustment(int rpm) {
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return idleControllerInstance.getIdleTimingAdjustment(rpm);
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}
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static void applyPidSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
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iacPidMultMap.init(CONFIG(iacPidMultTable), CONFIG(iacPidMultLoadBins), CONFIG(iacPidMultRpmBins));
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@ -605,6 +641,7 @@ void startIdleBench(void) {
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void startIdleThread(Logging*sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
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logger = sharedLogger;
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INJECT_ENGINE_REFERENCE(&idleControllerInstance);
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idleControllerInstance.init(&CONFIG(idleTimingPid));
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INJECT_ENGINE_REFERENCE(&industrialWithOverrideIdlePid);
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ENGINE(idleController) = &idleControllerInstance;
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@ -11,6 +11,7 @@
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#include "engine_ptr.h"
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#include "rusefi_types.h"
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#include "periodic_task.h"
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#include "pid.h"
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struct IIdleController {
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enum class Phase : uint8_t {
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@ -28,13 +29,13 @@ struct IIdleController {
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};
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class Logging;
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class Pid;
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class IdleController : public IIdleController {
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public:
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DECLARE_ENGINE_PTR;
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void init(pid_s* idlePidConfig);
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float getIdlePosition();
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void update();
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@ -48,11 +49,23 @@ public:
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float getCrankingOpenLoop(float clt) const override;
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float getRunningOpenLoop(float clt, SensorResult tps) const override;
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float getOpenLoop(Phase phase, float clt, SensorResult tps) const override;
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float getIdleTimingAdjustment(int rpm);
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float getIdleTimingAdjustment(int rpm, int targetRpm, Phase phase);
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private:
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// These are stored by getIdlePosition() and used by getIdleTimingAdjustment()
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Phase m_lastPhase = Phase::Cranking;
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int m_lastTargetRpm = 0;
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Pid m_timingPid;
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};
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void updateIdleControl();
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percent_t getIdlePosition();
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float getIdleTimingAdjustment(int rpm);
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void applyIACposition(percent_t position DECLARE_ENGINE_PARAMETER_SUFFIX);
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void setManualIdleValvePosition(int positionPercent);
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@ -37,10 +37,6 @@ static ign_Map3D_t advanceMap("advance");
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// This coeff in ctor parameter is sufficient for int16<->float conversion!
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static ign_Map3D_t iatAdvanceCorrectionMap("iat corr");
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// Init PID later (make it compatible with unit-tests)
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static Pid idleTimingPid;
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static bool shouldResetTimingPid = false;
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static int minCrankingRpm = 0;
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#if IGN_LOAD_COUNT == DEFAULT_IGN_LOAD_COUNT
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@ -122,41 +118,10 @@ angle_t getAdvanceCorrections(int rpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
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if (!iatValid) {
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iatCorrection = 0;
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} else {
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iatCorrection = iatAdvanceCorrectionMap.getValue((float) rpm, iat);
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iatCorrection = iatAdvanceCorrectionMap.getValue(rpm, iat);
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}
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// PID Ignition Advance angle correction
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float pidTimingCorrection = 0.0f;
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if (CONFIG(useIdleTimingPidControl)) {
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int targetRpm = ENGINE(idleController)->getTargetRpm(Sensor::get(SensorType::Clt).value_or(0));
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int rpmDelta = absI(rpm - targetRpm);
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auto [valid, tps] = Sensor::get(SensorType::Tps1);
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// If TPS is invalid, or we aren't in the region, so reset state and don't apply PID
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if (!valid || tps >= CONFIG(idlePidDeactivationTpsThreshold)) {
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// we are not in the idle mode anymore, so the 'reset' flag will help us when we return to the idle.
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shouldResetTimingPid = true;
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}
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else if (rpmDelta > CONFIG(idleTimingPidDeadZone) && rpmDelta < CONFIG(idleTimingPidWorkZone) + CONFIG(idlePidFalloffDeltaRpm)) {
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// We're now in the idle mode, and RPM is inside the Timing-PID regulator work zone!
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// So if we need to reset the PID, let's do it now
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if (shouldResetTimingPid) {
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idleTimingPid.reset();
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shouldResetTimingPid = false;
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}
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// get PID value (this is not an actual Advance Angle, but just a additive correction!)
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percent_t timingRawCorr = idleTimingPid.getOutput(targetRpm, rpm, FAST_CALLBACK_PERIOD_MS / 1000.0f);
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// tps idle-running falloff
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pidTimingCorrection = interpolateClamped(0.0f, timingRawCorr, CONFIG(idlePidDeactivationTpsThreshold), 0.0f, tps);
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// rpm falloff
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pidTimingCorrection = interpolateClamped(0.0f, pidTimingCorrection, CONFIG(idlePidFalloffDeltaRpm), 0.0f, rpmDelta - CONFIG(idleTimingPidWorkZone));
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} else {
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shouldResetTimingPid = true;
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}
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} else {
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shouldResetTimingPid = true;
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}
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float pidTimingCorrection = getIdleTimingAdjustment(rpm);
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if (engineConfiguration->debugMode == DBG_IGNITION_TIMING) {
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#if EFI_TUNER_STUDIO
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@ -291,8 +256,6 @@ void initTimingMap(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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config->ignitionRpmBins);
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iatAdvanceCorrectionMap.init(config->ignitionIatCorrTable, config->ignitionIatCorrLoadBins,
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config->ignitionIatCorrRpmBins);
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// init timing PID
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idleTimingPid = Pid(&CONFIG(idleTimingPid));
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}
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/**
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@ -1409,9 +1409,10 @@ tChargeMode_e tChargeMode;
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uint8_t[4] unused1059;;"units", 1, 0, -20, 100, 0
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pid_s idleTimingPid;See useIdleTimingPidControl
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int16_t idleTimingPidWorkZone;+When the current RPM is closer than this value to the target, closed-loop idle timing control is enabled.;"RPM", 1, 0, 0, 1000, 0
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uint8_t[2] unused3988;;"units", 1, 0, -20, 100, 0
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int16_t idleTimingPidDeadZone;+If the RPM closer to target than this value, disable timing correction to prevent oscillation;"RPM", 1, 0, 0, 1000, 0
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int16_t idlePidFalloffDeltaRpm;+Taper out idle timing control over this range as the engine leaves idle conditions;"RPM", 1, 0, 0, 1000, 0
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uint8_t[2] unused3942;;"units", 1, 0, -20, 100, 0
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int16_t tpsAccelFractionPeriod;+A delay in cycles between fuel-enrich. portions;"cycles", 1, 0, 0, 500, 0
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float tpsAccelFractionDivisor;+A fraction divisor: 1 or less = entire portion at once, or split into diminishing fractions;"coef", 1, 0, 0, 100, 2
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@ -2567,6 +2567,7 @@ cmd_set_engine_type_default = "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
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dialog = idleTimingPidCorrDialog, "", yAxis
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field = ""
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field = "Enable closed loop idle ignition timing", useIdleTimingPidControl
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field = "RPM deadzone", idleTimingPidDeadZone
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field = ""
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field = "#Gain is in degrees advance per rpm away from target"
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field = "#A good starting point is 0.1 = 10 deg per 100 rpm"
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@ -62,76 +62,42 @@ TEST(idle, fsioPidParameters) {
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// ASSERT_EQ(1, engine->acSwitchState);
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}
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// see also util.pid test
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TEST(idle, timingPid) {
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using ICP = IIdleController::Phase;
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TEST(idle_v2, timingPid) {
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WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
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IdleController dut;
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INJECT_ENGINE_REFERENCE(&dut);
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// set PID settings
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pid_s pidS;
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pidS.pFactor = 0.1;
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pidS.iFactor = 0;
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pidS.dFactor = 0;
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pidS.offset = 0;
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pidS.minValue = -20;
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pidS.maxValue = +20;
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pidS.periodMs = 1;
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// setup TimingPid settings
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engineConfiguration->idleTimingPidDeadZone = 10;
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engineConfiguration->idleTimingPidWorkZone = 100;
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engineConfiguration->idlePidFalloffDeltaRpm = 30;
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// setup target rpm curve
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const int idleRpmTarget = 700;
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setArrayValues<float>(engineConfiguration->cltIdleRpm, idleRpmTarget);
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// setup other settings
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engineConfiguration->idleTimingPid = pidS;
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eth.engine.fsioState.fsioTimingAdjustment = 0;
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eth.engine.fsioState.fsioIdleTargetRPMAdjustment = 0;
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eth.engine.engineState.cltTimingCorrection = 0;
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// configure TPS
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engineConfiguration->idlePidDeactivationTpsThreshold = 10;
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Sensor::setMockValue(SensorType::Tps1, 0);
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// all corrections disabled, should be 0
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engineConfiguration->useIdleTimingPidControl = false;
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angle_t corr = getAdvanceCorrections(idleRpmTarget PASS_ENGINE_PARAMETER_SUFFIX);
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ASSERT_EQ(0, corr) << "getAdvanceCorrections#1";
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// basic IDLE PID correction test
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engineConfiguration->useIdleTimingPidControl = true;
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int baseTestRpm = idleRpmTarget + engineConfiguration->idleTimingPidWorkZone;
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corr = getAdvanceCorrections(baseTestRpm PASS_ENGINE_PARAMETER_SUFFIX);
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// (delta_rpm=-100) * (p-factor=0.1) = -10 degrees
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ASSERT_EQ(-10, corr) << "getAdvanceCorrections#2";
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// check if rpm is too close to the target
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corr = getAdvanceCorrections((idleRpmTarget + engineConfiguration->idleTimingPidDeadZone) PASS_ENGINE_PARAMETER_SUFFIX);
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ASSERT_EQ(0, corr) << "getAdvanceCorrections#3";
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pid_s pidCfg{};
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pidCfg.pFactor = 0.1;
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pidCfg.minValue = -10;
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pidCfg.maxValue = 10;
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dut.init(&pidCfg);
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// check if rpm is too high (just outside the workzone and even falloff) so we disable the PID correction
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int tooHighRpm = idleRpmTarget + engineConfiguration->idleTimingPidWorkZone + engineConfiguration->idlePidFalloffDeltaRpm;
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corr = getAdvanceCorrections(tooHighRpm PASS_ENGINE_PARAMETER_SUFFIX);
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ASSERT_EQ(0, corr) << "getAdvanceCorrections#4";
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// Check that out of idle mode it doesn't do anything
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EXPECT_EQ(0, dut.getIdleTimingAdjustment(1050, 1000, ICP::Cranking));
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EXPECT_EQ(0, dut.getIdleTimingAdjustment(1050, 1000, ICP::Coasting));
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EXPECT_EQ(0, dut.getIdleTimingAdjustment(1050, 1000, ICP::Running));
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// check if rpm is within the falloff zone
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int falloffRpm = idleRpmTarget + engineConfiguration->idleTimingPidWorkZone + (engineConfiguration->idlePidFalloffDeltaRpm / 2);
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corr = getAdvanceCorrections(falloffRpm PASS_ENGINE_PARAMETER_SUFFIX);
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// -(100+30/2) * 0.1 / 2 = -5.75
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ASSERT_FLOAT_EQ(-5.75f, corr) << "getAdvanceCorrections#5";
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// Check that it works in idle mode
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EXPECT_FLOAT_EQ(-5, dut.getIdleTimingAdjustment(1050, 1000, ICP::Idling));
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// check if PID correction is disabled in running mode (tps > threshold):
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Sensor::setMockValue(SensorType::Tps1, engineConfiguration->idlePidDeactivationTpsThreshold + 1);
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corr = getAdvanceCorrections(idleRpmTarget PASS_ENGINE_PARAMETER_SUFFIX);
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ASSERT_EQ(0, corr) << "getAdvanceCorrections#6";
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// ...but not when disabled
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engineConfiguration->useIdleTimingPidControl = false;
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EXPECT_EQ(0, dut.getIdleTimingAdjustment(1050, 1000, ICP::Idling));
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// check if PID correction is interpolated for transient idle-running TPS positions
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Sensor::setMockValue(SensorType::Tps1, engineConfiguration->idlePidDeactivationTpsThreshold / 2);
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corr = getAdvanceCorrections(baseTestRpm PASS_ENGINE_PARAMETER_SUFFIX);
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ASSERT_FLOAT_EQ(-5.0f, corr) << "getAdvanceCorrections#7";
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engineConfiguration->useIdleTimingPidControl = true;
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// Now check that the deadzone works
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engineConfiguration->idleTimingPidDeadZone = 50;
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EXPECT_FLOAT_EQ(5.1, dut.getIdleTimingAdjustment(949, 1000, ICP::Idling));
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EXPECT_EQ(0, dut.getIdleTimingAdjustment(951, 1000, ICP::Idling));
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EXPECT_EQ(0, dut.getIdleTimingAdjustment(1000, 1000, ICP::Idling));
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EXPECT_EQ(0, dut.getIdleTimingAdjustment(1049, 1000, ICP::Idling));
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EXPECT_FLOAT_EQ(-5.1, dut.getIdleTimingAdjustment(1051, 1000, ICP::Idling));
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}
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TEST(idle_v2, testTargetRpm) {
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@ -148,8 +114,6 @@ TEST(idle_v2, testTargetRpm) {
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EXPECT_FLOAT_EQ(500, dut.getTargetRpm(50));
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}
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using ICP = IIdleController::Phase;
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TEST(idle_v2, testDeterminePhase) {
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WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
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IdleController dut;
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