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@ -82,15 +82,15 @@ void set_heater_power(int percent) {
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/**
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/**
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* heater power calc
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* heater power calc
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*/
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*/
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int calc_hp(float t_t, float t_c, float error, int p_b, float pid_p, float pid_i) {
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int calc_hp(float t_t, float t_c, float Error_calc, int p_hb, float pid_hp, float pid_hi) {
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int p = p_b + pid_p * (t_t - t_c) + pid_i * error;
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int p_h = p_hb + pid_hp * (t_t - t_c) + pid_hi * Error_calc;
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if (p > 100) {
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if (p_h > 100) {
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return 100;
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return 100;
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}
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}
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if (p < 0) {
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if (p_h < 0) {
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return 0;
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return 0;
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}
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}
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return p;
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return p_h;
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}
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}
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/**
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/**
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@ -124,13 +124,14 @@ int calc_compressor_speed(int percent, int v_min, int v_max) {
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void PID_Calc() // pid calc
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void PID_Calc() // pid calc
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{
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{
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float Kp = 19.2;
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float Kp = 19.2;
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float Ki = 0.02;
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float Ki = 0.08;
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int p_base = 52;
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int p_hb = 52;
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float DelEk; // The difference between the last two deviations
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float DelEk; // The difference between the last two deviations
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// float td;
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// float td;
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float out;
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float out;
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// if (pid.C1ms < (pid.t)) // The calculation cycle has not yet arrived
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// if (pid.C1ms < (pid.t)) // The calculation cycle has not yet arrived
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// {
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// {
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// return;
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// return;
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// }
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// }
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@ -139,9 +140,16 @@ void PID_Calc() // pid calc
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pid.SEk += pid.Ek; // Total historical deviation
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pid.SEk += pid.Ek; // Total historical deviation
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// SEk limit
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// SEk limit, updated func
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if (pid.SEk < - p_base / Ki) {
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float delta_t = pid.set_tem - pid.now_tem;
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pid.SEk = - p_base / Ki;
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float pid_hp = Kp;
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float pid_hi = Ki;
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if (pid.SEk < - p_hb / pid_hi) {
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pid.SEk = - p_hb / pid_hi;
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}
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float Error_calc = pid.SEk;
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if (Error_calc < - (p_hb + pid_hp * delta_t) / pid_hi) {
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Error_calc = - (p_hb + pid_hp * delta_t) / pid_hi;
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}
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}
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@ -179,7 +187,7 @@ void PID_Calc() // pid calc
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pid.C1ms = 0;
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pid.C1ms = 0;
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// heater percent
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// heater percent
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int heater_percent = calc_hp(pid.set_tem, pid.now_tem, pid.SEk, p_base, Kp, Ki);
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int heater_percent = calc_hp(pid.set_tem, pid.now_tem, Error_calc, p_hb, pid_hp, pid_hi);
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int p_c = calc_cp(pid.set_tem, pid.now_tem, 32, Kp);
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int p_c = calc_cp(pid.set_tem, pid.now_tem, 32, Kp);
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