20240409-0412长时间测试

HARDWARE/PID.c

@@ -47,21 +47,26 @@ void PID_Init()
 
 	pid.max_compressor_tem = 30;
 
-	pid.hp_h = 5;
+	
+
+	pid.hp_h = 6;
 	pid.hi_h = 0.02;
-	pid.hd_h = 0.5;
+	pid.hd_h = 0;
 	pid.h_base_h = 0;
 
-	pid.hp_l = 14.4;
+	pid.hp_l = 7.2;
-	pid.hi_l = 0.08;
+	pid.hi_l = 0.04;
 	pid.hd_l = 0;
 	pid.h_base_l = 53;
 
-	pid.cp = 3;
+	pid.cp = 4;
-	pid.ci = 0;
+	pid.ci = 0.01;
 	pid.cd = 0;
 	pid.c_base = 37;
 
+	
+
+
 }
 
 /**
@@ -176,6 +181,9 @@ void PID_Calc() // pid calc
 	if (pid.set_tem - pid.now_tem < 3) {
 		hp = pid.hp_h * 0.6;
 	}
+	if (pid.set_tem - pid.now_tem < 1) {
+		hp = pid.hp_h * 0.3;
+	}
 
 	// l mode
 	if (pid.set_tem <= pid.max_compressor_tem) {
@@ -249,7 +257,8 @@ void PID_Calc() // pid calc
 	if (pid.set_tem > pid.max_compressor_tem) {
 	    pid.c_speed = 0;
 	} else {
-		int p_c = calc_cp(delta_t, Error_calc, DelEk, pid.c_base, pid.cp, pid.ci, pid.cd);
+		// use nagetive error and error diff when calc compressor power
+		int p_c = calc_cp(delta_t, - Error_calc, - DelEk, pid.c_base, pid.cp, pid.ci, pid.cd);
 		pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count);
 	}