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Ki, Kp, Kd configuration store

This commit is contained in:
PavelSindler 2019-04-08 18:31:15 +02:00
parent 6615717fd4
commit 9bfeedcd8e
1 changed files with 8 additions and 8 deletions
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16
Firmware/temperature.cpp
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@ -396,7 +396,7 @@ void updatePID()
{
#ifdef PIDTEMP
for(int e = 0; e < EXTRUDERS; e++) {
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
}
#endif
#ifdef PIDTEMPBED
@ -525,13 +525,13 @@ void manage_heater()
pid_reset[e] = false;
}
#ifndef PonM
pTerm[e] = cs.Kp * pid_error[e];
pTerm[e] = Kp * pid_error[e];
iState_sum[e] += pid_error[e];
iState_sum[e] = constrain(iState_sum[e], iState_sum_min[e], iState_sum_max[e]);
iTerm[e] = cs.Ki * iState_sum[e];
iTerm[e] = Ki * iState_sum[e];
// K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (cs.Kd * (pid_input - dState_last[e]))*K2 + (K1 * dTerm[e]); // e.g. digital filtration of derivative term changes
dTerm[e] = (Kd * (pid_input - dState_last[e]))*K2 + (K1 * dTerm[e]); // e.g. digital filtration of derivative term changes
pid_output = pTerm[e] + iTerm[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
if (pid_output > PID_MAX) {
if (pid_error[e] > 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
@ -541,10 +541,10 @@ void manage_heater()
pid_output=0;
}
#else // PonM ("Proportional on Measurement" method)
iState_sum[e] += cs.Ki * pid_error[e];
iState_sum[e] -= cs.Kp * (pid_input - dState_last[e]);
iState_sum[e] += Ki * pid_error[e];
iState_sum[e] -= Kp * (pid_input - dState_last[e]);
iState_sum[e] = constrain(iState_sum[e], 0, PID_INTEGRAL_DRIVE_MAX);
dTerm[e] = cs.Kd * (pid_input - dState_last[e]);
dTerm[e] = Kd * (pid_input - dState_last[e]);
pid_output = iState_sum[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
pid_output = constrain(pid_output, 0, PID_MAX);
#endif // PonM
@ -906,7 +906,7 @@ void tp_init()
maxttemp[e] = maxttemp[0];
#ifdef PIDTEMP
iState_sum_min[e] = 0.0;
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
#endif //PIDTEMP
#ifdef PIDTEMPBED
temp_iState_min_bed = 0.0;