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误差清零策略更新

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pid
Zeng wei (曾威) 2 years ago
parent 21308502ce
commit 7d28a4331f
2 changed files with 26 additions and 14 deletions
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28
HARDWARE/PID.c
Unescape View File

@ -123,8 +123,11 @@ int calc_compressor_speed(int percent, int v_min, int v_max) {
void PID_Calc() // pid calc
{
float Kp = 19.2;
float Ki = 0.08;
int min_speed_count = 1500;
int max_speed_count = 4500;
float pid_hp = 19.2;
float pid_cp = 14.4;
float pid_hi = 0.08;
int p_hb = 52;
float DelEk; // The difference between the last two deviations
// float td;
@ -135,22 +138,30 @@ void PID_Calc() // pid calc
// return;
// }
float delta_t = pid.set_tem - pid.now_tem;
int p_c = calc_cp(pid.set_tem, pid.now_tem, 32, pid_cp);
int speed_count = calc_compressor_speed(p_c, min_speed_count, max_speed_count);
pid.Ek = pid.set_tem - pid.now_tem;
pid.Pout = pid.Kp * pid.Ek; // Proportional output
pid.SEk += pid.Ek; // Total historical deviation
// SEk limit, updated func
float delta_t = pid.set_tem - pid.now_tem;
float pid_hp = Kp;
float pid_hi = Ki;
if (pid.SEk < - p_hb / pid_hi) {
pid.SEk = - p_hb / pid_hi;
}
if (speed_count == max_speed_count) {
pid.SEk = 0;
}
float Error_calc = pid.SEk;
if (Error_calc < - (p_hb + pid_hp * delta_t) / pid_hi) {
Error_calc = - (p_hb + pid_hp * delta_t) / pid_hi;
}
if (speed_count == max_speed_count) {
Error_calc = 0;
}
DelEk = pid.Ek - pid.Ek_1; // The difference between the last two deviations
@ -188,11 +199,12 @@ void PID_Calc() // pid calc
// heater percent
int heater_percent = calc_hp(pid.set_tem, pid.now_tem, Error_calc, p_hb, pid_hp, pid_hi);
// close heater when compressor is running in full state
if (speed_count == max_speed_count) {
heater_percent = 0;
}
int p_c = calc_cp(pid.set_tem, pid.now_tem, 32, Kp);
int speed_count = calc_compressor_speed(p_c, 1500, 4500);
// TODO:: temply, set Ki to speed count, Kd to heater_percent, use for data upload
pid.Ki = speed_count;
pid.Kd = heater_percent;

12
USER/control.uvguix.Administrator
Unescape View File

@ -1690,7 +1690,7 @@
<Name>File</Name>
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<Len>2021</Len>
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</Buttons>
<OriginalItems>
<Len>1423</Len>
@ -1722,7 +1722,7 @@
<Name>Debug</Name>
<Buttons>
<Len>2373</Len>
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<OriginalItems>
<Len>898</Len>
@ -1749,9 +1749,9 @@
<ActiveTab>2</ActiveTab>
<Doc>
<Name>../myfreertos/myfreertos.c</Name>
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@ -1767,9 +1767,9 @@
</Doc>
<Doc>
<Name>../HARDWARE/PID.c</Name>
<ColumnNumber>18</ColumnNumber>
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<ContractedFolders></ContractedFolders>
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