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clamp pid

This commit is contained in:
Matthew Kennedy 2020-12-11 15:24:56 -08:00
parent a8bdedaef6
commit 94828339f9
4 changed files with 11 additions and 5 deletions
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2
firmware/heater_control.cpp
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@ -73,7 +73,7 @@ static HeaterState GetNextState(HeaterState state, float sensorEsr)
return state; return state;
} }
static Pid heaterPid(0.01f, 0.05f, HEATER_CONTROL_PERIOD); static Pid heaterPid(0.01f, 0.05f, 1, HEATER_CONTROL_PERIOD);
static float GetDutyForState(HeaterState state, float heaterEsr) static float GetDutyForState(HeaterState state, float heaterEsr)
{ {

8
firmware/pid.cpp
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@ -5,8 +5,12 @@ float Pid::GetOutput(float setpoint, float observation)
float error = setpoint - observation; float error = setpoint - observation;
// Integrate error // Integrate error
m_integrator += error * m_period; m_integrator += error * m_period * m_ki;
// Clamp to +- 1
if (m_integrator > m_clamp) m_integrator = m_clamp;
if (m_integrator < -m_clamp) m_integrator = -m_clamp;
// Multiply by gains and sum // Multiply by gains and sum
return m_kp * error + m_ki * m_integrator; return m_kp * error + m_integrator;
} }

4
firmware/pid.h
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@ -3,10 +3,11 @@
class Pid class Pid
{ {
public: public:
Pid(float kP, float kI, int periodMs) Pid(float kP, float kI, float clamp, int periodMs)
: m_period(periodMs / 1000.0f) : m_period(periodMs / 1000.0f)
, m_kp(kP) , m_kp(kP)
, m_ki(kI) , m_ki(kI)
, m_clamp(clamp)
{ {
} }
@ -16,6 +17,7 @@ private:
const float m_period; const float m_period;
const float m_kp; const float m_kp;
const float m_ki; const float m_ki;
const float m_clamp;
float m_lastError; float m_lastError;
float m_integrator; float m_integrator;

2
firmware/pump_control.cpp
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@ -8,7 +8,7 @@
#include "ch.h" #include "ch.h"
// Bosch CJ125 is somewhere VERY ROUGHLY like 200-400A/(v*s) integrator gain // Bosch CJ125 is somewhere VERY ROUGHLY like 200-400A/(v*s) integrator gain
static Pid pumpPid(50.0f, 5000.0f, 2); static Pid pumpPid(50.0f, 5000.0f, 10, 2);
static THD_WORKING_AREA(waPumpThread, 256); static THD_WORKING_AREA(waPumpThread, 256);
static void PumpThread(void*) static void PumpThread(void*)