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ETB autotune in its own function (#1350) 

* pull out autotune

* oops
This commit is contained in:
Matthew Kennedy 2020-04-22 19:22:28 -07:00 committed by GitHub
parent 4947252830
commit df2db7036d
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 75 additions and 69 deletions
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143
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -199,6 +199,79 @@ expected<percent_t> EtbController::getOpenLoop(percent_t target) const {
return ff;
}
expected<percent_t> EtbController::getClosedLoopAutotune(percent_t actualThrottlePosition) {
// Estimate gain at 60% position - this should be well away from the spring and in the linear region
bool isPositive = actualThrottlePosition > 60.0f;
float autotuneAmplitude = 20;
// End of cycle - record & reset
if (!isPositive && m_lastIsPositive) {
efitick_t now = getTimeNowNt();
// Determine period
float tu = NT2US((float)(now - m_cycleStartTime)) / 1e6;
m_cycleStartTime = now;
// Determine amplitude
float a = m_maxCycleTps - m_minCycleTps;
// Filter - it's pretty noisy since the ultimate period is not very many loop periods
constexpr float alpha = 0.05;
m_a = alpha * a + (1 - alpha) * m_a;
m_tu = alpha * tu + (1 - alpha) * m_tu;
// Reset bounds
m_minCycleTps = 100;
m_maxCycleTps = 0;
// Math is for Åström–Hägglund (relay) auto tuning
// https://warwick.ac.uk/fac/cross_fac/iatl/reinvention/archive/volume5issue2/hornsey
// Publish to TS state
#if EFI_TUNER_STUDIO
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;
}
#endif
}
m_lastIsPositive = isPositive;
// Find the min/max of each cycle
if (actualThrottlePosition < m_minCycleTps) {
m_minCycleTps = actualThrottlePosition;
}
if (actualThrottlePosition > m_maxCycleTps) {
m_maxCycleTps = actualThrottlePosition;
}
// Bang-bang control the output to induce oscillation
return autotuneAmplitude * (isPositive ? -1 : 1);
}
expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t actualThrottlePosition) {
if (m_shouldResetPid) {
m_pid.reset();
@ -215,75 +288,7 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t act
// Only allow autotune with stopped engine
if (GET_RPM() == 0 && engine->etbAutoTune) {
bool isPositive = actualThrottlePosition > target;
float autotuneAmplitude = 20;
// End of cycle - record & reset
if (!isPositive && m_lastIsPositive) {
efitick_t now = getTimeNowNt();
// Determine period
float tu = NT2US((float)(now - m_cycleStartTime)) / 1e6;
m_cycleStartTime = now;
// Determine amplitude
float a = m_maxCycleTps - m_minCycleTps;
// Filter - it's pretty noisy since the ultimate period is not very many loop periods
constexpr float alpha = 0.05;
m_a = alpha * a + (1 - alpha) * m_a;
m_tu = alpha * tu + (1 - alpha) * m_tu;
// Reset bounds
m_minCycleTps = 100;
m_maxCycleTps = 0;
// Math is for Åström–Hägglund (relay) auto tuning
// https://warwick.ac.uk/fac/cross_fac/iatl/reinvention/archive/volume5issue2/hornsey
// Publish to TS state
#if EFI_TUNER_STUDIO
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;
}
#endif
}
m_lastIsPositive = isPositive;
// Find the min/max of each cycle
if (actualThrottlePosition < m_minCycleTps) {
m_minCycleTps = actualThrottlePosition;
}
if (actualThrottlePosition > m_maxCycleTps) {
m_maxCycleTps = actualThrottlePosition;
}
// Bang-bang control the output to induce oscillation
return autotuneAmplitude * (isPositive ? -1 : 1);
return getClosedLoopAutotune(actualThrottlePosition);
} else {
// Normal case - use PID to compute closed loop part
return m_pid.getOutput(target, actualThrottlePosition);

1
firmware/controllers/actuators/electronic_throttle.h
View File

@ -50,6 +50,7 @@ public:
expected<percent_t> getOpenLoop(percent_t target) const override;
expected<percent_t> getClosedLoop(percent_t setpoint, percent_t target) override;
expected<percent_t> getClosedLoopAutotune(percent_t actualThrottlePosition);
void setOutput(expected<percent_t> outputValue) override;