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将高温模式和低温模式明确提出，并分模式对待

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Zeng wei (曾威) 2 years ago
parent cce926ce30
commit 3cd51d9261
4 changed files with 88 additions and 55 deletions
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79
HARDWARE/PID.c
Unescape View File

@ -4,6 +4,8 @@
#include "Relays.h" #include "Relays.h"
#include "USART.h" #include "USART.h"
#include "rs485.h" #include "rs485.h"
#define MODE_H 1
#define MODE_L 0
float cold_tem = 0; float cold_tem = 0;
float red_tem = 0; float red_tem = 0;
float ti; float ti;
@ -61,9 +63,9 @@ void PID_Init()
pid.h_base_h = 0; pid.h_base_h = 0;
pid.hp_l = 9; pid.hp_l = 9;
pid.hi_l = 0.01; pid.hi_l = 0.025;
pid.hd_l = 0; pid.hd_l = 0;
pid.h_base_l = 10; pid.h_base_l = 30;
pid.hp = 0; pid.hp = 0;
pid.hi = 0; pid.hi = 0;
@ -165,11 +167,20 @@ int calc_compressor_speed(int percent, int v_min, int v_max) {
if (v < v_min) { if (v < v_min) {
return v_min; return v_min;
} }
return v; return v;
} }
void PID_Calc() // pid calc void PID_Calc() // pid calc
{ {
int mode = 0;
if (pid.set_tem > pid.max_compressor_tem) {
// h mode
mode = MODE_H;
} else {
// l mode
mode = MODE_L;
}
// int min_speed_count = 1800; // int min_speed_count = 1800;
// int max_speed_count = 4800; // int max_speed_count = 4800;
float DelEk; // The difference between the last two deviations float DelEk; // The difference between the last two deviations
@ -183,23 +194,23 @@ void PID_Calc() // pid calc
float delta_t = pid.set_tem - pid.now_tem; float delta_t = pid.set_tem - pid.now_tem;
pid.hp = pid.hp_h; if (mode == MODE_H) {
pid.hi = pid.hi_h; pid.hp = pid.hp_h;
pid.hd = pid.hd_h; pid.hi = pid.hi_h;
pid.h_base = pid.h_base_h; pid.hd = pid.hd_h;
pid.h_base = pid.h_base_h;
// if now temp is close to set temp, the heater will be less power // if now temp is close to set temp, the heater will be less power
if (pid.set_tem - pid.now_tem < 3) { if (pid.set_tem - pid.now_tem < 3) {
pid.hp = pid.hp_h * 0.6; pid.hp = pid.hp_h * 0.6;
} }
if (pid.set_tem - pid.now_tem < 1) { if (pid.set_tem - pid.now_tem < 1) {
pid.hp = pid.hp_h * 0.3; pid.hp = pid.hp_h * 0.3;
}
} }
// l mode // l mode
if (pid.set_tem <= pid.max_compressor_tem) { if (mode == MODE_L) {
pid.hp = pid.hp_l; pid.hp = pid.hp_l;
pid.hi = pid.hi_l; pid.hi = pid.hi_l;
pid.hd = pid.hd_l; pid.hd = pid.hd_l;
@ -222,7 +233,6 @@ void PID_Calc() // pid calc
pid.hp = (-pid.hp_l / 6 + 0.06) * delta_tem + pid.hp_l / 6 + 0.3; pid.hp = (-pid.hp_l / 6 + 0.06) * delta_tem + pid.hp_l / 6 + 0.3;
} }
} }
} }
pid.Ek = pid.set_tem - pid.now_tem; pid.Ek = pid.set_tem - pid.now_tem;
@ -232,17 +242,31 @@ void PID_Calc() // pid calc
DelEk = pid.Ek - pid.Ek_prev; // The difference between the last two deviations DelEk = pid.Ek - pid.Ek_prev; // The difference between the last two deviations
// // no integral when the deviation is too large // h mode
// if (pid.now_tem < pid.set_tem - 5) { if (mode == MODE_H) {
// pid.SEk = 0; // when set temp is larger then real temp, the heater will be less power
// } // in h mode, when we want to heat over 5 degrees, just use hp
if (pid.set_tem > pid.now_tem + 5) {
pid.hi = 0;
pid.hd = 0;
pid.SEk = 0;
}
}
// l mode
if (mode == MODE_L) {
// make integral smaller when the temp is too low and the SEk is too small
if (pid.now_tem < pid.set_tem - 2 && pid.SEk <= - (pid.h_base / 2) / pid.hi) {
pid.SEk /= 10;
}
// SEk limit, updated func, remain a little heater power when the compressor is running in full state
if (pid.SEk < - (pid.h_base / 2) / pid.hi) {
pid.SEk = - (pid.h_base / 2) / pid.hi;
}
}
// SEk limit, updated func, remain a little heater power when the compressor is running in full state // when the compressor is in full status, then the integral will be 0
if (pid.SEk < - (pid.h_base / 2) / pid.hi) {
pid.SEk = - (pid.h_base / 2) / pid.hi;
}
if (pid.c_speed == max_speed_count) { if (pid.c_speed == max_speed_count) {
pid.SEk = 0; pid.SEk = 0;
} }
@ -291,7 +315,8 @@ void PID_Calc() // pid calc
} else { } else {
// if outer temp is got, we calc pid by outer temp // if outer temp is got, we calc pid by outer temp
if (abs(pid.out_tem) > 1e-5) { if (abs(pid.out_tem) > 1e-5) {
pid.cp = (pid.out_tem - pid.set_tem) * 0.28; // pid.cp = (pid.out_tem - pid.set_tem) * 0.28;
pid.cp = (pid.out_tem - pid.set_tem) * 0.2;
} }
// use nagetive error and error diff when calc compressor power // 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); int p_c = calc_cp(delta_t, - Error_calc, - DelEk, pid.c_base, pid.cp, pid.ci, pid.cd);
@ -300,6 +325,10 @@ void PID_Calc() // pid calc
// heater percent // heater percent
pid.h_percent = calc_hp(delta_t, Error_calc, DelEk, pid.h_base, pid.hp, pid.hi, pid.hd); pid.h_percent = calc_hp(delta_t, Error_calc, DelEk, pid.h_base, pid.hp, pid.hi, pid.hd);
// in h mode, if current temp is close to set temp, the heater will close
if (pid.now_tem > pid.set_tem - 0.2 && pid.set_tem > pid.max_compressor_tem) {
pid.h_percent = 0;
}
// close heater when compressor is running in full state // close heater when compressor is running in full state
if (pid.c_speed == max_speed_count) { if (pid.c_speed == max_speed_count) {
pid.h_percent = 0; pid.h_percent = 0;

40
HARDWARE/rs485.c
Unescape View File

@ -4,10 +4,10 @@
#include "Relays.h" #include "Relays.h"
#include "myfreertos.h" #include "myfreertos.h"
u8 prev_sendbuf[49] = {0xEE, 0xB5, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, u8 prev_sendbuf[53] = {0xEE, 0xB5, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF};
u8 sendbuf[49] = {0xEE, 0xB5, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, u8 sendbuf[53] = {0xEE, 0xB5, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF};
u8 sendbuf_crc[20] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, u8 sendbuf_crc[20] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
extern u8 global_buffer[64]; extern u8 global_buffer[64];
@ -394,10 +394,10 @@ void RS485_1_Upload_Params(void)
sendbuf[1] = 0xB5; sendbuf[1] = 0xB5;
sendbuf[2] = 0x05; sendbuf[2] = 0x05;
sendbuf[45] = 0xFF; sendbuf[49] = 0xFF;
sendbuf[46] = 0xFC; sendbuf[50] = 0xFC;
sendbuf[47] = 0xFF; sendbuf[51] = 0xFF;
sendbuf[48] = 0xFF; sendbuf[52] = 0xFF;
if (T <= 1000 && T >= -1000) if (T <= 1000 && T >= -1000)
{ {
@ -491,30 +491,34 @@ void RS485_1_Upload_Params(void)
sendbuf[36] = (int)(pid.cp * 1000) % 256; // Kp 110 sendbuf[36] = (int)(pid.cp * 1000) % 256; // Kp 110
sendbuf[37] = ((int)(pid.ci * 100000)) / 256; // Ti 0.001 sendbuf[37] = ((int)(pid.ci * 100000)) / 256; // Ti 0.001
sendbuf[38] = ((int)(pid.ci * 100000)) % 256; // Ti 0.001 sendbuf[38] = ((int)(pid.ci * 100000)) % 256; // Ti 0.001
// sendbuf[39] = (int)pid.cd / 256; // Td 340 sendbuf[39] = (int)pid.cd / 256; // Td 340
// sendbuf[40] = (int)pid.cd % 256; // Td 340 sendbuf[40] = (int)pid.cd % 256; // Td 340
// TODO::temply print out_tem // // TODO::temply print out_tem
sendbuf[39] = (int)(pid.out_tem * 10) / 256; // Td 340 // sendbuf[39] = (int)(pid.out_tem * 10) / 256; // Td 340
sendbuf[40] = (int)(pid.out_tem * 10) % 256; // Td 340 // sendbuf[40] = (int)(pid.out_tem * 10) % 256; // Td 340
sendbuf[41] = pid.c_speed / 256; // h_percent sendbuf[41] = pid.c_speed / 256; // h_percent
sendbuf[42] = pid.c_speed % 256; // h_percent sendbuf[42] = pid.c_speed % 256; // h_percent
sendbuf[43] = (int)(pid.out_tem * 10) / 256;
sendbuf[44] = (int)(pid.out_tem * 10) % 256;
sendbuf[45] = (int)(pid.out_humidity * 10) / 256;
sendbuf[46] = (int)(pid.out_humidity * 10) % 256;
// bufcut_Init(sendbuf_crc, sendbuf, 3, 31); // bufcut_Init(sendbuf_crc, sendbuf, 3, 31);
// GetCRC16(sendbuf_crc, 28, &crc_num1, &crc_num2); // GetCRC16(sendbuf_crc, 28, &crc_num1, &crc_num2);
GetCRC16(sendbuf, 43, &crc_num1, &crc_num2); GetCRC16(sendbuf, 47, &crc_num1, &crc_num2);
sendbuf[43] = crc_num1; sendbuf[47] = crc_num1;
sendbuf[44] = crc_num2; sendbuf[48] = crc_num2;
// u8 tmpabc[] = {0xAA, 0xBB, 0xCC}; // u8 tmpabc[] = {0xAA, 0xBB, 0xCC};
// RS485_1_Send_Data(tmpabc, 3); // RS485_1_Send_Data(tmpabc, 3);
// only when modify happen, then send // only when modify happen, then send
// if (cmp_str(prev_sendbuf, sendbuf, 49) != 0) { // if (cmp_str(prev_sendbuf, sendbuf, 49) != 0) {
RS485_1_Send_Data(sendbuf, 49); RS485_1_Send_Data(sendbuf, 53);
vTaskDelay(100); vTaskDelay(100);
cp_str_to_prev(prev_sendbuf, sendbuf, 49); cp_str_to_prev(prev_sendbuf, sendbuf, 53);
// } // }
} }

16
USER/control.uvguix.Administrator
Unescape View File

@ -75,10 +75,10 @@
<WindowPosition> <WindowPosition>
<length>44</length> <length>44</length>
<flags>2</flags> <flags>2</flags>
<showCmd>3</showCmd> <showCmd>2</showCmd>
<MinPosition> <MinPosition>
<xPos>-1</xPos> <xPos>-32000</xPos>
<yPos>-1</yPos> <yPos>-32000</yPos>
</MinPosition> </MinPosition>
<MaxPosition> <MaxPosition>
<xPos>-1</xPos> <xPos>-1</xPos>
@ -95,7 +95,7 @@
<RegID>0</RegID> <RegID>0</RegID>
<MDITabState> <MDITabState>
<Len>392</Len> <Len>392</Len>
<Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000002000000010000000100000057453A5CD6C7C4DCC5A9D2B520D6C7C4DCBBB7BEB3C6F8BAF2CFE45CD6C7C4DCC6F8BAF2C5E0D1F8CFE45CD6F7BFD8B0E55CB4FAC2EB5C636F6E74726F6C5F6672656572746F735C48415244574152455C72733438352E63000000000772733438352E6300000000FFDC7800FFFFFFFF55453A5CD6C7C4DCC5A9D2B520D6C7C4DCBBB7BEB3C6F8BAF2CFE45CD6C7C4DCC6F8BAF2C5E0D1F8CFE45CD6F7BFD8B0E55CB4FAC2EB5C636F6E74726F6C5F6672656572746F735C48415244574152455C5049442E6300000000055049442E6300000000BECEA100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000F4000000660000008007000063030000</Data> <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000002000000010000000100000057453A5CD6C7C4DCC5A9D2B520D6C7C4DCBBB7BEB3C6F8BAF2CFE45CD6C7C4DCC6F8BAF2C5E0D1F8CFE45CD6F7BFD8B0E55CB4FAC2EB5C636F6E74726F6C5F6672656572746F735C48415244574152455C72733438352E63000000000772733438352E6300000000FFDC7800FFFFFFFF55453A5CD6C7C4DCC5A9D2B520D6C7C4DCBBB7BEB3C6F8BAF2CFE45CD6C7C4DCC6F8BAF2C5E0D1F8CFE45CD6F7BFD8B0E55CB4FAC2EB5C636F6E74726F6C5F6672656572746F735C48415244574152455C5049442E6300000000055049442E6300000000BECEA100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000F483FFFF4F83FFFF808AFFFF4C86FFFF</Data>
</MDITabState> </MDITabState>
</MDIClientArea> </MDIClientArea>
<ViewEx> <ViewEx>
@ -1722,7 +1722,7 @@
<Name>Debug</Name> <Name>Debug</Name>
<Buttons> <Buttons>
<Len>2373</Len> <Len>2373</Len>
<Data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ata> 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</Buttons> </Buttons>
<OriginalItems> <OriginalItems>
<Len>898</Len> <Len>898</Len>
@ -1758,9 +1758,9 @@
</Doc> </Doc>
<Doc> <Doc>
<Name>../HARDWARE/PID.c</Name> <Name>../HARDWARE/PID.c</Name>
<ColumnNumber>15</ColumnNumber> <ColumnNumber>13</ColumnNumber>
<TopLine>119</TopLine> <TopLine>116</TopLine>
<CurrentLine>149</CurrentLine> <CurrentLine>140</CurrentLine>
<Folding>1</Folding> <Folding>1</Folding>
<ContractedFolders></ContractedFolders> <ContractedFolders></ContractedFolders>
<PaneID>0</PaneID> <PaneID>0</PaneID>

2
myfreertos/myfreertos.c
Unescape View File

@ -544,7 +544,7 @@ void process_outer_sensor_data(u8 *data)
{ {
out_humidity = ((~out_humidity + 1) & 0xFFFF); out_humidity = ((~out_humidity + 1) & 0xFFFF);
} }
pid.out_humidity = out_humidity; pid.out_humidity = (float)out_humidity / 10;
} }
/** /**

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