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PID / manage_heater 

PSD regulator improvement
This commit is contained in:
MRprusa3d 2019-01-17 02:57:08 +01:00
parent 4e300fd552
commit d9f8e4eb9e
3 changed files with 49 additions and 34 deletions
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2
Firmware/Configuration.h
View File

@ -131,8 +131,10 @@
//#define PID_DEBUG // Sends debug data to the serial port. //#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
// :-O :-O :-O
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
// :-O :-O :-O
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term #define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID #define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

73
Firmware/temperature.cpp
View File

@ -106,15 +106,15 @@ static volatile bool temp_meas_ready = false;
#ifdef PIDTEMP #ifdef PIDTEMP
//static cannot be external: //static cannot be external:
static float temp_iState[EXTRUDERS] = { 0 }; static float iState_sum[EXTRUDERS] = { 0 };
static float temp_dState[EXTRUDERS] = { 0 }; static float dState_last[EXTRUDERS] = { 0 };
static float pTerm[EXTRUDERS]; static float pTerm[EXTRUDERS];
static float iTerm[EXTRUDERS]; static float iTerm[EXTRUDERS];
static float dTerm[EXTRUDERS]; static float dTerm[EXTRUDERS];
//int output; //int output;
static float pid_error[EXTRUDERS]; static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS]; static float iState_sum_min[EXTRUDERS];
static float temp_iState_max[EXTRUDERS]; static float iState_sum_max[EXTRUDERS];
// static float pid_input[EXTRUDERS]; // static float pid_input[EXTRUDERS];
// static float pid_output[EXTRUDERS]; // static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS]; static bool pid_reset[EXTRUDERS];
@ -418,7 +418,7 @@ void updatePID()
{ {
#ifdef PIDTEMP #ifdef PIDTEMP
for(int e = 0; e < EXTRUDERS; e++) { for(int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki; iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
} }
#endif #endif
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
@ -587,6 +587,10 @@ void checkExtruderAutoFans()
#endif // any extruder auto fan pins set #endif // any extruder auto fan pins set
void resetPID(uint8_t extruder) // ready for eventually parameters adjusting
{
}
void manage_heater() void manage_heater()
{ {
#ifdef WATCHDOG #ifdef WATCHDOG
@ -598,6 +602,7 @@ void manage_heater()
if(temp_meas_ready != true) //better readability if(temp_meas_ready != true) //better readability
return; return;
// more precisely - this condition partially stabilizes time interval for regulation values evaluation (@ ~ 230ms)
updateTemperaturesFromRawValues(); updateTemperaturesFromRawValues();
@ -619,38 +624,42 @@ void manage_heater()
pid_input = current_temperature[e]; pid_input = current_temperature[e];
#ifndef PID_OPENLOOP #ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - pid_input; if(target_temperature[e] == 0) {
if(pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[e] = true;
}
else if(pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
pid_output = 0; pid_output = 0;
pid_reset[e] = true; pid_reset[e] = true;
} } else {
else { pid_error[e] = target_temperature[e] - pid_input;
if(pid_reset[e] == true) { if(pid_reset[e]) {
temp_iState[e] = 0.0; iState_sum[e] = 0.0;
dTerm[e] = 0.0; // 'dState_last[e]' initial setting is not necessary (see end of if-statement)
pid_reset[e] = false; pid_reset[e] = false;
} }
#ifndef PonM
pTerm[e] = cs.Kp * pid_error[e]; pTerm[e] = cs.Kp * pid_error[e];
temp_iState[e] += pid_error[e]; iState_sum[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); iState_sum[e] = constrain(iState_sum[e], iState_sum_min[e], iState_sum_max[e]);
iTerm[e] = cs.Ki * temp_iState[e]; iTerm[e] = cs.Ki * iState_sum[e];
// K1 defined in Configuration.h in the PID settings
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1) #define K2 (1.0-K1)
dTerm[e] = (cs.Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]); dTerm[e] = (cs.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]; 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_output > PID_MAX) {
if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration if (pid_error[e] > 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
pid_output=PID_MAX; pid_output=PID_MAX;
} else if (pid_output < 0){ } else if (pid_output < 0) {
if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration if (pid_error[e] < 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
pid_output=0; 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] = constrain(iState_sum[e], 0, PID_INTEGRAL_DRIVE_MAX);
dTerm[e] = cs.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
} }
temp_dState[e] = pid_input; dState_last[e] = pid_input;
#else #else
pid_output = constrain(target_temperature[e], 0, PID_MAX); pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP #endif //PID_OPENLOOP
@ -667,7 +676,7 @@ void manage_heater()
SERIAL_ECHO(" iTerm "); SERIAL_ECHO(" iTerm ");
SERIAL_ECHO(iTerm[e]); SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(" dTerm "); SERIAL_ECHO(" dTerm ");
SERIAL_ECHOLN(dTerm[e]); SERIAL_ECHOLN(-dTerm[e]);
#endif //PID_DEBUG #endif //PID_DEBUG
#else /* PID off */ #else /* PID off */
pid_output = 0; pid_output = 0;
@ -677,16 +686,14 @@ void manage_heater()
#endif #endif
// Check if temperature is within the correct range // Check if temperature is within the correct range
if(current_temperature[e] < maxttemp[e]) if((current_temperature[e] < maxttemp[e]) && (target_temperature[e] != 0))
{ {
soft_pwm[e] = (int)pid_output >> 1; soft_pwm[e] = (int)pid_output >> 1;
} }
else else
{ {
soft_pwm[e] = 0; soft_pwm[e] = 0;
} }
if(target_temperature[e]==0)
soft_pwm[e] = 0;
#ifdef WATCH_TEMP_PERIOD #ifdef WATCH_TEMP_PERIOD
if(watchmillis[e] && millis() - watchmillis[e] > WATCH_TEMP_PERIOD) if(watchmillis[e] && millis() - watchmillis[e] > WATCH_TEMP_PERIOD)
@ -1001,8 +1008,8 @@ void tp_init()
// populate with the first value // populate with the first value
maxttemp[e] = maxttemp[0]; maxttemp[e] = maxttemp[0];
#ifdef PIDTEMP #ifdef PIDTEMP
temp_iState_min[e] = 0.0; iState_sum_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki; iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
#endif //PIDTEMP #endif //PIDTEMP
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
temp_iState_min_bed = 0.0; temp_iState_min_bed = 0.0;

8
Firmware/temperature.h
View File

@ -87,6 +87,8 @@ extern int current_voltage_raw_bed;
extern volatile int babystepsTodo[3]; extern volatile int babystepsTodo[3];
#endif #endif
void resetPID(uint8_t extruder);
inline void babystepsTodoZadd(int n) inline void babystepsTodoZadd(int n)
{ {
if (n != 0) { if (n != 0) {
@ -137,11 +139,15 @@ FORCE_INLINE float degTargetBed() {
FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) { FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
target_temperature[extruder] = celsius; target_temperature[extruder] = celsius;
resetPID[extruder];
}; };
static inline void setTargetHotendSafe(const float &celsius, uint8_t extruder) static inline void setTargetHotendSafe(const float &celsius, uint8_t extruder)
{ {
if (extruder<EXTRUDERS) target_temperature[extruder] = celsius; if (extruder<EXTRUDERS) {
target_temperature[extruder] = celsius;
resetPID[extruder];
}
} }
static inline void setAllTargetHotends(const float &celsius) static inline void setAllTargetHotends(const float &celsius)