forked from M-Labs/kirdy
pid_autotune: Update pid autotune main fn
This commit is contained in:
parent
dc97f42bd0
commit
bfd8c0e43a
@ -72,6 +72,13 @@ class PIDAutotune:
|
||||
"""Get a list of all available tuning rules."""
|
||||
return self._tuning_rules.keys()
|
||||
|
||||
def get_tec_pid (self):
|
||||
divisors = self._tuning_rules["tyreus-luyben"]
|
||||
kp = self._Ku * divisors[0]
|
||||
ki = divisors[1] * self._Ku / self._Pu
|
||||
kd = divisors[2] * self._Ku * self._Pu
|
||||
return kp, ki, kd
|
||||
|
||||
def get_pid_parameters(self, tuning_rule='ziegler-nichols'):
|
||||
"""Get PID parameters.
|
||||
|
||||
@ -224,38 +231,55 @@ class PIDAutotune:
|
||||
|
||||
async def main():
|
||||
"""
|
||||
PID AutoTune Tools for Kirdy
|
||||
The obtained temperature works best at the target temperature specified.
|
||||
Before running PID AutoTune, please
|
||||
1. Secure the laser diode onto the LD adapter and copper heat sink
|
||||
2. Make sure Kirdy has warmed up and reached thermal equilibrium state
|
||||
PID Autotune Tool for Kirdy
|
||||
|
||||
In case of PID Autotune Failure, you can
|
||||
1. Run the PID Autotune again
|
||||
2. Or increase the lookback period
|
||||
3. Or increase the sampling rate
|
||||
This tool can tune the PID to be critically damped by adjusting a few parameters.
|
||||
Please be advised that this tool can generate undesired PID response.
|
||||
Make sure you have set the over-temperature protection range properly to protect the laser diode.
|
||||
|
||||
PID Autotune Tool Parameters:
|
||||
For the operation theory and implication of each parameters, please refer to this blog post.
|
||||
http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/
|
||||
|
||||
1. lookback: Reference period for local minima/maxima, seconds.
|
||||
2. noiseband: Determines by how much the input value must overshoot/undershoot the setpoint(celsius).
|
||||
3. output_step: Output current step size(amps).
|
||||
4. target_temperature: Target Output Temperature Setpoint.
|
||||
5. apply_params: Apply PID Parameters after pid autotune is successful.
|
||||
|
||||
Kirdy-Related Parameters:
|
||||
1. Thermistor parameters.
|
||||
2. Temperature monitor upper and lower limits.
|
||||
3. Temperature ADC filter type and sampling rate.
|
||||
|
||||
Instructions:
|
||||
Before running the PID Autotune Tool, please:
|
||||
1. Secure the laser diode onto the LD adapter and copper heat sink with thermal paste.
|
||||
2. Ensure Kirdy has warmed up and reached thermal equilibrium.
|
||||
|
||||
After running the PID Autotune Tool:
|
||||
Test the PID parameters and evaluate the PID output behavior.
|
||||
"""
|
||||
|
||||
# Target temperature of the autotune routine, celsius
|
||||
target_temperature = 20
|
||||
# Value by which output will be increased/decreased from zero, amps
|
||||
output_step = 1
|
||||
# Reference period for local minima/maxima, seconds
|
||||
lookback = 2.0
|
||||
# Determines by how much the input value must
|
||||
# overshoot/undershoot the setpoint, celsius
|
||||
noiseband = 1.5
|
||||
lookback = 5.0
|
||||
noiseband = 0.0
|
||||
# Apply parameter
|
||||
apply_params = True
|
||||
|
||||
kirdy = Kirdy()
|
||||
await kirdy.start_session(host='192.168.1.128', port=1337, timeout=0.25)
|
||||
kirdy_ctrl = Kirdy()
|
||||
await kirdy.start_session(host='192.168.1.131', port=1337, timeout=0.25)
|
||||
await kirdy_ctrl.start_session(host='192.168.1.131', port=1337, timeout=0.25)
|
||||
|
||||
await kirdy.laser.set_power_on(False)
|
||||
await kirdy.laser.set_i(0)
|
||||
await kirdy_ctrl.laser.set_power_on(False)
|
||||
await kirdy_ctrl.laser.set_i(0)
|
||||
|
||||
await kirdy.thermostat.set_power_on(False)
|
||||
await kirdy.thermostat.set_constant_current_control_mode()
|
||||
await kirdy.thermostat.set_tec_i_out(0)
|
||||
await kirdy.thermostat.clear_alarm()
|
||||
await kirdy_ctrl.thermostat.set_power_on(False)
|
||||
await kirdy_ctrl.thermostat.set_constant_current_control_mode()
|
||||
await kirdy_ctrl.thermostat.set_tec_i_out(0)
|
||||
await kirdy_ctrl.thermostat.clear_alarm()
|
||||
|
||||
class SignalHandler:
|
||||
KEEP_PROCESSING = True
|
||||
@ -267,50 +291,53 @@ async def main():
|
||||
self.KEEP_PROCESSING = False
|
||||
signal_handler = SignalHandler()
|
||||
|
||||
await kirdy.device.set_active_report_mode(False)
|
||||
|
||||
# Configure the Thermistor Parameters
|
||||
await kirdy.thermostat.set_sh_beta(3900)
|
||||
await kirdy.thermostat.set_sh_r0(10.0 * 1000)
|
||||
await kirdy.thermostat.set_sh_t0(25)
|
||||
await kirdy_ctrl.thermostat.set_sh_beta(3950)
|
||||
await kirdy_ctrl.thermostat.set_sh_r0(10.0 * 1000)
|
||||
await kirdy_ctrl.thermostat.set_sh_t0(25)
|
||||
|
||||
# Set a large enough temperature range so that it won't trigger overtemperature protection
|
||||
await kirdy.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
|
||||
await kirdy.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
|
||||
|
||||
await kirdy.thermostat.set_tec_max_cooling_i(output_step)
|
||||
await kirdy.thermostat.set_tec_max_heating_i(output_step)
|
||||
# Set a large enough temperature range so that it won't trigger over-temperature protection
|
||||
await kirdy_ctrl.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
|
||||
await kirdy_ctrl.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
|
||||
await kirdy_ctrl.thermostat.set_tec_max_cooling_i(output_step)
|
||||
await kirdy_ctrl.thermostat.set_tec_max_heating_i(output_step)
|
||||
|
||||
# The Polling Rate of Temperature Adc is equal to the PID Update Interval
|
||||
await kirdy.thermostat.config_temp_adc_filter("Sinc5Sinc1With50hz60HzRejection", "F16SPS")
|
||||
settings = await kirdy.device.get_settings_summary()
|
||||
settings = await kirdy_ctrl.device.get_settings_summary()
|
||||
sampling_rate = settings["thermostat"]["temp_adc_settings"]["rate"]
|
||||
|
||||
print("Settings: {0}".format(settings))
|
||||
await kirdy_ctrl.thermostat.set_power_on(True)
|
||||
|
||||
tuner = PIDAutotune(target_temperature, output_step,
|
||||
lookback, noiseband, 1/sampling_rate)
|
||||
|
||||
await kirdy.thermostat.set_power_on(True)
|
||||
async for status_report in kirdy.report_mode():
|
||||
if signal_handler.KEEP_PROCESSING:
|
||||
temperature = status_report["thermostat"]["temperature"]
|
||||
ts = status_report['ts']
|
||||
print("Ts: {0} Temperature: {1} degree".format(ts, temperature))
|
||||
|
||||
while True and signal_handler.KEEP_PROCESSING:
|
||||
status_report = await kirdy.device.get_status_report()
|
||||
if (tuner.run(temperature, ts / 1000.0)):
|
||||
print(tuner._state)
|
||||
kirdy.stop_report_mode()
|
||||
|
||||
temperature = status_report["thermostat"]["temperature"]
|
||||
ts = status_report['ts']
|
||||
print("Ts: {0} Current Temperature: {1} degree".format(ts, temperature))
|
||||
tuner_out = tuner.output()
|
||||
print("PID Autotuner Output: {0}A".format(tuner_out))
|
||||
await kirdy_ctrl.thermostat.set_tec_i_out(tuner_out)
|
||||
else:
|
||||
kirdy.stop_report_mode()
|
||||
|
||||
if (tuner.run(temperature, ts / 1000.0)):
|
||||
print(tuner._state)
|
||||
break
|
||||
await kirdy_ctrl.thermostat.set_tec_i_out(0)
|
||||
await kirdy_ctrl.thermostat.set_power_on(False)
|
||||
|
||||
tuner_out = tuner.output()
|
||||
await kirdy.thermostat.set_tec_i_out(float(tuner_out))
|
||||
|
||||
await kirdy.thermostat.set_tec_i_out(0)
|
||||
await kirdy.thermostat.set_power_on(False)
|
||||
if apply_params:
|
||||
kp, ki, kd = tuner.get_tec_pid()
|
||||
await kirdy_ctrl.thermostat.set_pid_kp(kp)
|
||||
await kirdy_ctrl.thermostat.set_pid_ki(ki)
|
||||
await kirdy_ctrl.thermostat.set_pid_kd(kd)
|
||||
|
||||
await kirdy.end_session()
|
||||
await kirdy_ctrl.end_session()
|
||||
|
||||
if __name__ == "__main__":
|
||||
asyncio.run(main())
|
||||
|
||||
Loading…
Reference in New Issue
Block a user