This commit is contained in:
topquark12 2022-02-16 12:57:16 +08:00
parent 678edfd2d1
commit 3353292cf6
3 changed files with 5 additions and 12 deletions

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@ -67,10 +67,10 @@ impl ChannelState {
} }
/// Update PID state on ADC input, calculate new DAC output /// Update PID state on ADC input, calculate new DAC output
pub fn update_pid(&mut self, current: ElectricCurrent) -> Option<f64> { pub fn update_pid(&mut self) -> Option<f64> {
let temperature = self.get_temperature()? let temperature = self.get_temperature()?
.get::<degree_celsius>(); .get::<degree_celsius>();
let pid_output = self.pid.update(temperature, self.get_adc_interval(), current); let pid_output = self.pid.update(temperature);
Some(pid_output) Some(pid_output)
} }

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@ -75,10 +75,9 @@ impl Channels {
pub fn poll_adc(&mut self, instant: Instant) -> Option<u8> { pub fn poll_adc(&mut self, instant: Instant) -> Option<u8> {
self.adc.data_ready().unwrap().map(|channel| { self.adc.data_ready().unwrap().map(|channel| {
let data = self.adc.read_data().unwrap(); let data = self.adc.read_data().unwrap();
let current = self.get_tec_i(channel.into());
let state = self.channel_state(channel); let state = self.channel_state(channel);
state.update(instant, data); state.update(instant, data);
match state.update_pid(current) { match state.update_pid() {
Some(pid_output) if state.pid_engaged => { Some(pid_output) if state.pid_engaged => {
// Forward PID output to i_set DAC // Forward PID output to i_set DAC
self.set_i(channel.into(), ElectricCurrent::new::<ampere>(pid_output)); self.set_i(channel.into(), ElectricCurrent::new::<ampere>(pid_output));

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@ -1,10 +1,4 @@
use serde::{Serialize, Deserialize}; use serde::{Serialize, Deserialize};
use uom::si::{
f64::{Time, ElectricCurrent},
time::second,
electric_current::ampere,
};
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)] #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
pub struct Parameters { pub struct Parameters {
@ -62,7 +56,7 @@ impl Controller {
// + x2 * kd // + x2 * kd
// + kp * (u0 - u1) // + kp * (u0 - u1)
// y0 = clip(y0', ymin, ymax) // y0 = clip(y0', ymin, ymax)
pub fn update(&mut self, input: f64, time_delta: Time, current: ElectricCurrent) -> f64 { pub fn update(&mut self, input: f64) -> f64 {
let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki) let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki)
+ input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd) + input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd)
@ -140,7 +134,7 @@ mod test {
while !values.iter().all(|value| target.contains(value)) && total_t < CYCLE_LIMIT { while !values.iter().all(|value| target.contains(value)) && total_t < CYCLE_LIMIT {
let next_t = (t + 1) % DELAY; let next_t = (t + 1) % DELAY;
// Feed the oldest temperature // Feed the oldest temperature
output = pid.update(values[next_t], Time::new::<second>(1.0), ElectricCurrent::new::<ampere>(output)); output = pid.update(values[next_t]);
// Overwrite oldest with previous temperature - output // Overwrite oldest with previous temperature - output
values[next_t] = values[t] - output - (values[t] - DEFAULT) * LOSS; values[next_t] = values[t] - output - (values[t] - DEFAULT) * LOSS;
t = next_t; t = next_t;