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Remove old PID

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This commit is contained in:
Ben V. Brown
2021-09-15 18:54:11 +10:00
parent 4a11b81d08
commit 6989f10829
1 changed files with 9 additions and 41 deletions
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50
source/Core/Threads/PIDThread.cpp
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@@ -64,8 +64,6 @@ void startPIDTask(void const *argument __unused) {
PIDTempTarget = TipThermoModel::getTipMaxInC();
}
int32_t tError = PIDTempTarget - currentTipTempInC;
// tError = tError > INT16_MAX ? INT16_MAX : tError;
// tError = tError < INT16_MIN ? INT16_MIN : tError;
detectThermalRunaway(currentTipTempInC, tError);
x10WattsOut = getPIDResultX10Watts(tError);
@@ -77,10 +75,11 @@ void startPIDTask(void const *argument __unused) {
// ADC interrupt timeout
setTipPWM(0, false);
}
#ifdef DEBUG_UART_OUTPUT
log_system_state(x10WattsOut);
#endif
}
}
#define TRIAL_NEW_PID
#ifdef TRIAL_NEW_PID
template <class T = int32_t> struct Integrator {
T sum;
@@ -89,9 +88,9 @@ template <class T = int32_t> struct Integrator {
// Decay the old value. This is a simplified formula that still works with decent results
// Ideally we would have used an exponential decay but the computational effort required
// by exp function is just not justified here in respect to the outcome
sum = sum * (100 - inertia / rate) / 100;
sum = (sum * (100 - (inertia / rate))) / 100;
// Add the new value x integration interval ( 1 / rate)
sum += gain * val / rate;
sum += (gain * val) / rate;
// limit the output
if (sum > limit)
@@ -137,42 +136,12 @@ int32_t getPIDResultX10Watts(int32_t setpointDelta) {
// TIM3->CTR1 is configured with a duty cycle of 50% so, in real, we get only 50% of the presumed power output
// so we basically double the need (gain = 2) to get what we want.
return powerStore.update(TIP_THERMAL_MASS * setpointDelta, // the required power
TIP_THERMAL_MASS, // inertia factor
TIP_THERMAL_MASS, // Inertia, smaller numbers increase dominance of the previous value
1, // gain
rate, // PID cycle frequency
getX10WattageLimits());
}
#else
int32_t getPIDResultX10Watts(int32_t tError) {
// Now for the PID!
// P term - total power needed to hit target temp next cycle.
// thermal mass = 1690 milliJ/*C for my tip.
// = Watts*Seconds to raise Temp from room temp to +100*C, divided by 100*C.
// we divide milliWattsNeeded by 20 to let the I term dominate near the set point.
// This is necessary because of the temp noise and thermal lag in the system.
// Once we have feed-forward temp estimation we should be able to better tune this.
int32_t x10WattsNeeded = tempToX10Watts(tError);
// note that milliWattsNeeded is sometimes negative, this counters overshoot
// from I term's inertia.
int32_t x10WattsOut = x10WattsNeeded;
// I term - energy needed to compensate for heat loss.
// We track energy put into the system over some window.
// Assuming the temp is stable, energy in = energy transfered.
// (If it isn't, P will dominate).
x10WattsOut += x10WattHistory.average();
// D term - use sudden temp change to counter fast cooling/heating.
// In practice, this provides an early boost if temp is dropping
// and counters extra power if the iron is no longer losing temp.
// basically: temp - lastTemp
// Unfortunately, our temp signal is too noisy to really help.
return x10WattsOut;
}
#endif
void detectThermalRunaway(const int16_t currentTipTempInC, const int tError) {
static uint16_t tipTempCRunawayTemp = 0;
static TickType_t runawaylastChangeTime = 0;
@@ -203,7 +172,9 @@ void detectThermalRunaway(const int16_t currentTipTempInC, const int tError) {
int32_t getX10WattageLimits() {
const auto vin = getInputVoltageX10(getSettingValue(SettingsOptions::VoltageDiv), 0);
int32_t limit = (vin * vin) * tipResistance / 10;
int32_t limit = ((vin * vin) * tipResistance);
limit *= 12; // Default to 20% over
limit /= 100;
if (getSettingValue(SettingsOptions::PowerLimit) && limit > (getSettingValue(SettingsOptions::PowerLimit) * 10)) {
limit = getSettingValue(SettingsOptions::PowerLimit) * 10;
@@ -253,8 +224,5 @@ void setOutputx10WattsViaFilters(int32_t x10WattsOut) {
x10WattsOutLast = x10WattsOut;
#endif
setTipX10Watts(x10WattsOut);
#ifdef DEBUG_UART_OUTPUT
log_system_state(x10WattsOut);
#endif
resetWatchdog();
}