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reconnect the pid controller

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This commit is contained in:
Astro 2020-09-18 00:09:30 +02:00
parent fb81380955
commit ba84295ec5
4 changed files with 21 additions and 20 deletions
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11
src/channel_state.rs
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@ -7,7 +7,7 @@ use uom::si::{
}, },
electric_potential::volt, electric_potential::volt,
electrical_resistance::ohm, electrical_resistance::ohm,
temperature_interval::kelvin, thermodynamic_temperature::degree_celsius,
}; };
use crate::{ use crate::{
ad7172, ad7172,
@ -51,10 +51,11 @@ 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) { pub fn update_pid(&mut self) -> Option<f64> {
// Update PID controller let temperature = self.get_temperature()?
// self.pid.update(self.get_temperature().unwrap().get::<kelvin>()) .get::<degree_celsius>();
// TODO: add output field let pid_output = self.pid.update(temperature);
Some(pid_output)
} }
pub fn get_adc(&self) -> Option<ElectricPotential> { pub fn get_adc(&self) -> Option<ElectricPotential> {

21
src/channels.rs
View File

@ -70,21 +70,16 @@ impl Channels {
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 dac_value = { let state = self.channel_state(channel);
let state = self.channel_state(channel);
state.update(instant, data);
let pid_output = state.update_pid();
if state.pid_engaged { state.update(instant, data);
Some(pid_output) match state.update_pid() {
} else { Some(pid_output) if state.pid_engaged => {
None log::info!("PID: {:.3} A", pid_output);
// Forward PID output to i_set DAC
self.set_i(channel.into(), ElectricCurrent::new::<ampere>(pid_output));
} }
}; _ => {}
if let Some(dac_value) = dac_value {
// Forward PID output to i_set DAC
// TODO:
// self.set_dac(channel.into(), ElectricPotential::new::<volt>(dac_value));
} }
channel channel

4
src/main.rs
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@ -200,7 +200,7 @@ fn main() -> ! {
let state = channels.channel_state(channel); let state = channels.channel_state(channel);
let _ = writeln!(socket, "PID settings for channel {}", channel); let _ = writeln!(socket, "PID settings for channel {}", channel);
let pid = &state.pid; let pid = &state.pid;
let _ = writeln!(socket, "- target={:.4}", pid.target); let _ = writeln!(socket, "- target={:.4} °C", pid.target);
macro_rules! show_pid_parameter { macro_rules! show_pid_parameter {
($p: tt) => { ($p: tt) => {
let _ = writeln!( let _ = writeln!(
@ -217,7 +217,7 @@ fn main() -> ! {
show_pid_parameter!(output_min); show_pid_parameter!(output_min);
show_pid_parameter!(output_max); show_pid_parameter!(output_max);
if let Some(last_output) = pid.last_output { if let Some(last_output) = pid.last_output {
let _ = writeln!(socket, "- last_output={:.4}", last_output); let _ = writeln!(socket, "- last_output={:.3} A", last_output);
} }
let _ = writeln!(socket, ""); let _ = writeln!(socket, "");
} }

5
src/pid.rs
View File

@ -44,10 +44,13 @@ impl Controller {
} }
pub fn update(&mut self, input: f64) -> f64 { pub fn update(&mut self, input: f64) -> f64 {
// error
let error = self.target - input; let error = self.target - input;
// partial
let p = self.parameters.kp * error; let p = self.parameters.kp * error;
//integral
self.integral += error; self.integral += error;
if self.integral < self.parameters.integral_min { if self.integral < self.parameters.integral_min {
self.integral = self.parameters.integral_min; self.integral = self.parameters.integral_min;
@ -57,12 +60,14 @@ impl Controller {
} }
let i = self.parameters.ki * self.integral; let i = self.parameters.ki * self.integral;
// derivative
let d = match self.last_input { let d = match self.last_input {
None => 0.0, None => 0.0,
Some(last_input) => self.parameters.kd * (last_input - input) Some(last_input) => self.parameters.kd * (last_input - input)
}; };
self.last_input = Some(input); self.last_input = Some(input);
// output
let mut output = p + i + d; let mut output = p + i + d;
if output < self.parameters.output_min { if output < self.parameters.output_min {
output = self.parameters.output_min; output = self.parameters.output_min;