forked from M-Labs/thermostat
add autotune
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be4383a447
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059dd0bbb6
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@ -17,6 +17,7 @@ class PIDAutotuneState(Enum):
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STATE_RELAY_STEP_DOWN = 'relay step down'
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STATE_SUCCEEDED = 'succeeded'
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STATE_FAILED = 'failed'
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STATE_READY = 'ready'
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class PIDAutotune:
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@ -56,6 +57,20 @@ class PIDAutotune:
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self._Ku = 0
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self._Pu = 0
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def setParam(self, target, step, noiseband, sampletime, lookback):
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self._setpoint = target
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self._outputstep = step
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self._out_max = step
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self._out_min = -step
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self._noiseband = noiseband
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self._inputs = deque(maxlen=round(lookback / sampletime))
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def setReady(self):
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self._state = PIDAutotuneState.STATE_READY
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def setOff(self):
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self._state = PIDAutotuneState.STATE_OFF
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def state(self):
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"""Get the current state."""
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return self._state
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@ -81,6 +96,13 @@ class PIDAutotune:
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kd = divisors[2] * self._Ku * self._Pu
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return PIDAutotune.PIDParams(kp, ki, kd)
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def get_tec_pid (self):
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divisors = self._tuning_rules["tyreus-luyben"]
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kp = self._Ku * divisors[0]
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ki = divisors[1] * self._Ku / self._Pu
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kd = divisors[2] * self._Ku * self._Pu
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return kp, ki, kd
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def run(self, input_val, time_input):
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"""To autotune a system, this method must be called periodically.
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@ -95,7 +117,8 @@ class PIDAutotune:
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if (self._state == PIDAutotuneState.STATE_OFF
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or self._state == PIDAutotuneState.STATE_SUCCEEDED
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or self._state == PIDAutotuneState.STATE_FAILED):
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or self._state == PIDAutotuneState.STATE_FAILED
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or self._state == PIDAutotuneState.STATE_READY):
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self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
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self._last_run_timestamp = now
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@ -68,7 +68,8 @@ GUIparams = [[
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{'name': 'Save to flash', 'type': 'action', 'tip': 'Save to flash'},
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] for _ in range(2)]
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autoTuneState = [PIDAutotuneState.STATE_OFF, 'idle']
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autoTuner = [PIDAutotune(20, 1, 1, 1.5, refresh_period / 1000),
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PIDAutotune(20, 1, 1, 1.5, refresh_period / 1000)]
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## If anything changes in the tree, print a message
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def change(param, changes, ch):
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@ -87,7 +88,8 @@ def change(param, changes, ch):
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if (childName == 'Disable Output'):
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tec.set_param('pwm', ch, 'i_set', 0)
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paramList[ch].child('Constant Current').child('Set Current').setValue(0)
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paramList[ch].child('Temperature PID').setValue(False)
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paramList[ch].child('Temperature PID').setValue(False)
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autoTuner[ch].setOff()
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if (childName == 'Temperature PID'):
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if (data):
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@ -130,7 +132,13 @@ def change(param, changes, ch):
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tec.set_param('pid', ch, 'kd', data)
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if (childName == 'PID Config.PID Auto Tune.Run'):
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autoTuneState[ch] = 'triggered'
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autoTuner[ch].setParam(paramList[ch].child('PID Config').child('PID Auto Tune').child('Target Temperature').value(),
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paramList[ch].child('PID Config').child('PID Auto Tune').child('Test Current').value(),
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paramList[ch].child('PID Config').child('PID Auto Tune').child('Temperature Swing').value(),
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refresh_period / 1000,
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1)
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autoTuner[ch].setReady()
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paramList[ch].child('Temperature PID').setValue(False)
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if (childName == 'Save to flash'):
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tec.save_config()
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@ -185,8 +193,8 @@ def TECsync():
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if parents['tag'] == 'report':
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for data in tec.report_mode():
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for children in parents['children']:
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print(data)
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children['value'] = data[channel][children['tag']]
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print(data[channel][children['tag']])
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if quit:
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break
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if parents['tag'] == 'pwm':
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@ -226,10 +234,24 @@ def updateData():
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ch0currentGraph.update(data, cnt)
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ch1currentGraph.update(data, cnt)
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for state in autoTuneState:
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if state == 'triggered':
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state = 'tuning'
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for channel in range (2):
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if (autoTuner[channel].state() == PIDAutotuneState.STATE_READY or
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autoTuner[channel].state() == PIDAutotuneState.STATE_RELAY_STEP_UP or
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autoTuner[channel].state() == PIDAutotuneState.STATE_RELAY_STEP_DOWN):
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autoTuner[channel].run(data[channel]['temperature'], data[channel]['time'])
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tec.set_param('pwm', channel, 'i_set', autoTuner[channel].output())
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elif (autoTuner[channel].state() == PIDAutotuneState.STATE_SUCCEEDED):
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kp, ki, kd = autoTuner[channel].get_tec_pid()
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autoTuner[channel].setOff()
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paramList[channel].child('PID Config').child('kP').setValue(kp)
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paramList[channel].child('PID Config').child('kI').setValue(ki)
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paramList[channel].child('PID Config').child('kD').setValue(kd)
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tec.set_param('pid', channel, 'kp', kp)
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tec.set_param('pid', channel, 'ki', ki)
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tec.set_param('pid', channel, 'kd', kd)
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elif (autoTuner[channel].state() == PIDAutotuneState.STATE_FAILED):
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tec.set_param('pwm', channel, 'i_set', 0)
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autoTuner[channel].setOff()
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if quit:
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break
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