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PID auto tune

This commit is contained in:
rusefi 2017-09-14 22:07:26 -04:00
parent 27136cafe7
commit 64162b2719
2 changed files with 13 additions and 4 deletions
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6
firmware/controllers/math/pid_auto_tune.cpp
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@ -13,6 +13,8 @@ PID_AutoTune::PID_AutoTune() {
nLookBack = 50;
oStep = 10;
noiseBand = 0.5;
Ku = NAN;
Pu = NAN;
}
void PID_AutoTune::FinishUp() {
@ -123,8 +125,8 @@ int PID_AutoTune::Runtime(Logging *logging) {
}
if (directionJustChanged && peakCount > 2) { //we've transitioned. check if we can autotune based on the last peaks
float avgSeparation = (absF(peaks[peakCount - 1] - peaks[peakCount - 2])
+ absF(peaks[peakCount - 2] - peaks[peakCount - 3])) / 2;
float avgSeparation = (absF(peaks[peakCount - 0] - peaks[peakCount - 1])
+ absF(peaks[peakCount - 1] - peaks[peakCount - 2])) / 2;
if (avgSeparation < 0.05 * (absMax - absMin)) {
FinishUp();
running = false;

11
unit_tests/test_pid_auto.cpp
View File

@ -56,13 +56,20 @@ void testPidAutoZigZag() {
at.input = zigZagValue(mockTimeMs);
at.Runtime(&logging);
}
assertEqualsM("peakCount", 1, at.peakCount);
assertEqualsM("peakCount@21", 1, at.peakCount);
for (;mockTimeMs<=41;mockTimeMs++) {
at.input = zigZagValue(mockTimeMs);
at.Runtime(&logging);
}
assertEqualsM("peakCount", 2, at.peakCount);
assertEqualsM("peakCount@41", 2, at.peakCount);
assertEqualsM("Pu@41", 1, cisnan(at.Pu));
for (;mockTimeMs<=60;mockTimeMs++) {
at.input = zigZagValue(mockTimeMs);
at.Runtime(&logging);
}
assertEqualsM("peakCount@60", 3, at.peakCount);
assertEqualsM("Pu@60", 0.02, at.Pu);
}