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wideband
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heater fiddling

This commit is contained in:
Matthew Kennedy 2021-07-09 23:15:24 -07:00
parent 6de89e81a3
commit d3f90f2054
2 changed files with 25 additions and 6 deletions
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29
firmware/heater_control.cpp
View File

@ -34,8 +34,8 @@ static HeaterState GetNextState(HeaterState state, float sensorEsr)
if (timeCounter <= 0 || sensorEsr < HEATER_CLOSED_LOOP_THRESHOLD_ESR) if (timeCounter <= 0 || sensorEsr < HEATER_CLOSED_LOOP_THRESHOLD_ESR)
{ {
// If enough time has elapsed, start the ramp // If enough time has elapsed, start the ramp
// Start the ramp at 50% duty - ~6-7 volts // Start the ramp at 30% duty - ~3-4 volts
rampDuty = 0.5f; rampDuty = 0.3f;
// Next phase times out at 15 seconds // Next phase times out at 15 seconds
timeCounter = HEATER_WARMUP_TIMEOUT / HEATER_CONTROL_PERIOD; timeCounter = HEATER_WARMUP_TIMEOUT / HEATER_CONTROL_PERIOD;
@ -78,7 +78,21 @@ static HeaterState GetNextState(HeaterState state, float sensorEsr)
return state; return state;
} }
static Pid heaterPid(0.003f, 0.005f, 0.0005f, 0.6f, HEATER_CONTROL_PERIOD); // oscillates at 0.04 kP
//static Pid heaterPid(0.04f,0, 0, 0.6f, HEATER_CONTROL_PERIOD);
// "no overshoot" PID
//static Pid heaterPid(0.008f, 0.0288f, 0.0015f, 0.6f, HEATER_CONTROL_PERIOD);
// PI
//static Pid heaterPid(0.02f, 0.0576f, 0.0015f, 0.6f, HEATER_CONTROL_PERIOD);
// rusefi ETB autotune
//static Pid heaterPid(0.014f, 0.018f, 0.0018f, 0.6f, HEATER_CONTROL_PERIOD);
// rusefi ETB autotune with more PD
static Pid heaterPid(0.02f, 0.018f, 0.003f, 0.6f, HEATER_CONTROL_PERIOD);
static float GetDutyForState(HeaterState state, float heaterEsr) static float GetDutyForState(HeaterState state, float heaterEsr)
{ {
@ -88,8 +102,8 @@ static float GetDutyForState(HeaterState state, float heaterEsr)
case HeaterState::WarmupRamp: case HeaterState::WarmupRamp:
if (rampDuty < 0.75f) if (rampDuty < 0.75f)
{ {
// 0.4 volt per second, divided by battery voltage and update rate // 0.3 volt per second, divided by battery voltage and update rate
constexpr float rampRateVoltPerSecond = 0.4f; constexpr float rampRateVoltPerSecond = 0.3f;
constexpr float heaterFrequency = 1000.0f / HEATER_CONTROL_PERIOD; constexpr float heaterFrequency = 1000.0f / HEATER_CONTROL_PERIOD;
rampDuty += ((rampRateVoltPerSecond / 14) / heaterFrequency); rampDuty += ((rampRateVoltPerSecond / 14) / heaterFrequency);
} }
@ -125,6 +139,11 @@ static void HeaterThread(void*)
state = GetNextState(state, heaterEsr); state = GetNextState(state, heaterEsr);
float duty = GetDutyForState(state, heaterEsr); float duty = GetDutyForState(state, heaterEsr);
// Limit to 80% duty
if (duty > 0.8) {
duty = 0.8;
}
// Pipe the output to the heater driver // Pipe the output to the heater driver
heaterPwm.SetDuty(duty); heaterPwm.SetDuty(duty);

2
firmware/wideband_config.h
View File

@ -46,5 +46,5 @@
#define HEATER_CLOSED_LOOP_THRESHOLD_ESR 2000 #define HEATER_CLOSED_LOOP_THRESHOLD_ESR 2000
#define HEATER_TARGET_ESR 300 #define HEATER_TARGET_ESR 300
#define HEATER_OVERHEAT_ESR 200 #define HEATER_OVERHEAT_ESR 150
#define HEATER_UNDERHEAT_ESR 3000 #define HEATER_UNDERHEAT_ESR 3000