M-Labs/thermostat
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fix simulation math, provided simulation control loop is stable and passes test, reaching simulation cycle limit before settling fails test

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topquark12 2020-12-28 17:38:10 +08:00
parent 7c013ff4a4
commit 8c9e12587f
1 changed files with 21 additions and 11 deletions
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32
src/pid.rs
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@ -124,21 +124,29 @@ mod test {
use super::*; use super::*;
const PARAMETERS: Parameters = Parameters { const PARAMETERS: Parameters = Parameters {
kp: 0.055, kp: 0.03,
ki: 0.005, ki: 0.002,
kd: 0.04, kd: 0.15,
output_min: -10.0, output_min: -10.0,
output_max: 10.0, output_max: 10.0,
integral_min: -100.0, integral_min: -1000.0,
integral_max: 100.0, integral_max: 1000.0,
}; };
#[test] #[test]
fn test_controller() { fn test_controller() {
const DEFAULT: f64 = 0.0; // Initial and ambient temperature
const TARGET: f64 = -1234.56; const DEFAULT: f64 = 20.0;
const ERROR: f64 = 0.01; // Target temperature
const DELAY: usize = 10; const TARGET: f64 = 40.0;
// Control tolerance
const ERROR: f64 = 0.01;
// System response delay
const DELAY: usize = 10;
// Heat lost
const LOSS: f64 = 0.05;
// Limit simulation cycle, reaching this limit before settling fails test
const CYCLE_LIMIT: u32 = 1000;
let mut pid = Controller::new(PARAMETERS.clone()); let mut pid = Controller::new(PARAMETERS.clone());
pid.target = TARGET; pid.target = TARGET;
@ -147,14 +155,16 @@ mod test {
let mut t = 0; let mut t = 0;
let mut total_t = 0; let mut total_t = 0;
let target = (TARGET - ERROR)..=(TARGET + ERROR); let target = (TARGET - ERROR)..=(TARGET + ERROR);
while !values.iter().all(|value| target.contains(value)) { 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
let output = pid.update(values[next_t], Time::new::<second>(1.0)); let output = pid.update(values[next_t], Time::new::<second>(1.0));
// Overwrite oldest with previous temperature - output // Overwrite oldest with previous temperature - output
values[next_t] = values[t] - output; values[next_t] = values[t] + output - (values[t] - DEFAULT) * LOSS;
t = next_t; t = next_t;
total_t += 1; total_t += 1;
println!("{}", values[t].to_string());
} }
assert_ne!(CYCLE_LIMIT, total_t);
} }
} }