mirror of https://github.com/rusefi/rusefi-1.git
Idle PID improvements
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1460194065
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b7b50e5cb3
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@ -61,6 +61,8 @@ EXTERN_ENGINE;
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Engine *unitTestEngine;
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#endif
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// todo: move all static vars to engine->engineState.idle?
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static bool prettyClose = false;
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static bool shouldResetPid = false;
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@ -70,6 +72,13 @@ static bool shouldResetPid = false;
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// See automaticIdleController().
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static bool mightResetPid = false;
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// This is needed to slowly turn on the PID back after it was reset.
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static bool wasResetPid = false;
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// This is used when the PID configuration is changed, to guarantee the reset
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static bool mustResetPid = false;
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static efitimeus_t restoreAfterPidResetTimeUs = 0;
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class PidWithOverrides : public PidIndustrial {
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public:
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float getOffset() const override {
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@ -283,11 +292,13 @@ static void undoIdleBlipIfNeeded() {
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}
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}
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static bool isOutOfAutomaticIdleCondition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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static bool isOutOfAutomaticIdleCondition(float rpm, int targetRpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
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// first, check the pedal threshold
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if (CONFIG(throttlePedalUpPin) != GPIO_UNASSIGNED) {
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return !engine->engineState.idle.throttlePedalUpState;
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if (!engine->engineState.idle.throttlePedalUpState) {
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return true;
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}
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} else {
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const auto [valid, pos] = Sensor::get(SensorType::DriverThrottleIntent);
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// Disable auto idle in case of TPS/Pedal failure
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@ -295,7 +306,20 @@ static bool isOutOfAutomaticIdleCondition(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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return true;
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}
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return pos > CONFIG(idlePidDeactivationTpsThreshold);
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if (pos > CONFIG(idlePidDeactivationTpsThreshold))
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return true;
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}
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// then, check the RPM threshold (if in coasting mode)
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if (CONFIG(idlePidRpmUpperLimit) > 0) {
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int idlePidLowerRpm = targetRpm + CONFIG(idlePidRpmDeadZone);
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int upperRpmLimit = idlePidLowerRpm + CONFIG(idlePidRpmUpperLimit);
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if (rpm > upperRpmLimit) {
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return true;
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}
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}
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return false;
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}
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/**
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@ -307,7 +331,21 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
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industrialWithOverrideIdlePid.antiwindupFreq = engineConfiguration->idle_antiwindupFreq;
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industrialWithOverrideIdlePid.derivativeFilterLoss = engineConfiguration->idle_derivativeFilterLoss;
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if (isOutOfAutomaticIdleCondition(PASS_ENGINE_PARAMETER_SIGNATURE)) {
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// get Target RPM for Auto-PID from a separate table
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int targetRpm = getTargetRpmForIdleCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);
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efitick_t nowNt = getTimeNowNt();
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efitimeus_t nowUs = getTimeNowUs();
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float rpm;
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if (CONFIG(useInstantRpmForIdle)) {
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rpm = engine->triggerCentral.triggerState.calculateInstantRpm(NULL, nowNt PASS_ENGINE_PARAMETER_SUFFIX);
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} else {
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rpm = GET_RPM();
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}
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if (isOutOfAutomaticIdleCondition(rpm, targetRpm PASS_ENGINE_PARAMETER_SUFFIX)) {
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// Don't store old I and D terms if PID doesn't work anymore.
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// Otherwise they will affect the idle position much later, when the throttle is closed.
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if (mightResetPid) {
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@ -320,21 +358,8 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
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return engine->engineState.idle.baseIdlePosition;
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}
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// get Target RPM for Auto-PID from a separate table
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int targetRpm = getTargetRpmForIdleCorrection(PASS_ENGINE_PARAMETER_SIGNATURE);
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efitick_t nowNt = getTimeNowNt();
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float rpm;
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if (CONFIG(useInstantRpmForIdle)) {
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rpm = engine->triggerCentral.triggerState.calculateInstantRpm(NULL, nowNt PASS_ENGINE_PARAMETER_SUFFIX);
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} else {
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rpm = GET_RPM();
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}
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// #1553 we need to give FSIO variable offset or minValue a chance
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bool acToggleJustTouched = (getTimeNowUs() - engine->acSwitchLastChangeTime) < MS2US(500);
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bool acToggleJustTouched = (nowUs - engine->acSwitchLastChangeTime) < MS2US(500);
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// check if within the dead zone
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if (!acToggleJustTouched && absI(rpm - targetRpm) <= CONFIG(idlePidRpmDeadZone)) {
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engine->engineState.idle.idleState = RPM_DEAD_ZONE;
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@ -347,6 +372,17 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
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percent_t errorAmpCoef = 1.0f;
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if (rpm < targetRpm)
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errorAmpCoef += (float)CONFIG(pidExtraForLowRpm) / PERCENT_MULT;
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// if PID was previously reset, we store the time when it turned on back (see errorAmpCoef correction below)
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if (wasResetPid) {
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restoreAfterPidResetTimeUs = nowUs;
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wasResetPid = false;
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}
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// increase the errorAmpCoef slowly to restore the process correctly after the PID reset
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// todo: move restoreAfterPidResetTimeUs to engineState.idle?
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efitimeus_t timeSincePidResetUs = nowUs - /*engine->engineState.idle.*/restoreAfterPidResetTimeUs;
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// todo: add 'pidAfterResetDampingPeriodMs' setting
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errorAmpCoef = interpolateClamped(0.0f, 0.0f, MS2US(/*CONFIG(pidAfterResetDampingPeriodMs)*/1000), errorAmpCoef, timeSincePidResetUs);
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// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->setErrorAmplification(errorAmpCoef);
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@ -415,9 +451,14 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
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}
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if (shouldResetPid) {
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// we reset only if I-term is negative, because the positive I-term is good - it keeps RPM from dropping too low
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if (getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getIntegration() <= 0 || mustResetPid) {
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getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->reset();
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mustResetPid = false;
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}
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// alternatorPidResetCounter++;
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shouldResetPid = false;
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wasResetPid = true;
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}
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@ -557,6 +598,7 @@ void setDefaultIdleParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
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void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration) {
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shouldResetPid = !getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->isSame(&previousConfiguration->idleRpmPid);
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mustResetPid = shouldResetPid;
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idleSolenoidOpen.setFrequency(CONFIG(idle).solenoidFrequency);
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idleSolenoidClose.setFrequency(CONFIG(idle).solenoidFrequency);
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}
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