- Controller have integrator on power level

- improved integral part in PID

git-svn-id: http://moon:8086/svn/projects/HendiControl@268 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/controller.py

@@ -64,6 +64,8 @@ class Controller(TimerListener):
 		self.timerMgr.registerTimer(self.plantTimer)
 		self.timerMgr.registerTimer(self.reportTimer)
 		self.rast_running = False
+		self.power_hold = 0
+		self.power_heat = 1000
 
 	def onTimer(self, timer):
 		if timer == self.sensorTimer:
@@ -237,9 +239,19 @@ class Controller(TimerListener):
 			self.pid_hold.process(self.dt, self.params['Hold']['Pid'], ctrl_theta_err)
 			self.pid_rate.process(self.dt, self.params['Heat']['Pid'], ctrl_heatrate_err)
 
-		power_hold = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max'] * self.pid_hold.get_y()))
+		if self.ovenState == ovenStates.HOLD:
-		power_heat = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max'] * self.pid_rate.get_y()))
+			self.power_hold += self.params['P_max'] * self.pid_hold.get_y()
-		power_soll = min(power_hold, power_heat)
+
+		if self.ovenState == ovenStates.HEAT:
+			self.power_heat += self.params['P_max'] * self.pid_rate.get_y()
+
+		self.power_hold = max(self.params['P_min'], min(self.params['P_max'], self.power_hold))
+		self.power_heat = max(self.params['P_min'], min(self.params['P_max'], self.power_heat))
+
+		power_soll = min(self.power_hold, self.power_hold)
+		if self.ovenState == ovenStates.HEAT:
+			power_soll = min(self.power_heat, self.power_heat)
+
 		self.plant.setPower(power_soll)
 		power_ist = self.plant.getPower()
 
@@ -247,8 +259,8 @@ class Controller(TimerListener):
 		self.theta_v = np.append(self.theta_v, ctrl_theta)
 		self.heatrate_v = np.append(self.heatrate_v, ctrl_heatrate)
 		self.power_v = np.append(self.power_v, power_soll)
-		self.power_hold_v = np.append(self.power_hold_v, power_hold)
+		self.power_hold_v = np.append(self.power_hold_v, self.power_hold)
-		self.power_heat_v = np.append(self.power_heat_v, power_heat)
+		self.power_heat_v = np.append(self.power_heat_v, self.power_heat)
 		self.error_v = np.append(self.error_v, ctrl_theta_err)
 		self.power_soll = power_soll
 
@@ -256,12 +268,12 @@ class Controller(TimerListener):
 		if ovenStateNext != self.ovenState:
 			self.log("{} -> {}".format(self.ovenState, ovenStateNext))
 			if ovenStateNext == ovenStates.HEAT:
-				self.pid_rate.reset()
+#				self.pid_rate.reset()
 				self.stirrer.setSpeed(self.stirrSpeedHeat)
 				self.stirrer.setDutyCycle(1.0)
 
 			if ovenStateNext == ovenStates.HOLD:
-#				self.pid_hold.reset()
+				self.pid_hold.reset()
 				self.stirrer.setSpeed(self.stirrSpeedRast)
 				self.stirrer.setDutyCycle(self.stirrDutyRast)
 

Control/brewpi/pid.py

@@ -11,7 +11,7 @@ class Pid():
 
         # Auto windup
         self.y_min = 0.0
-        self.y_max = 500.0
+        self.y_max = 2.0
         self.diff_aw = 0.0
 
         # Output
@@ -35,7 +35,7 @@ class Pid():
         rho = params['rho']
 
         err_aw = err + self.diff_aw
-        yi = rho*self.yi + err_aw
+        yi = rho*self.yi + ki*dt * err_aw
 
         if derr:
             yd = derr
@@ -43,7 +43,7 @@ class Pid():
             yd = err - self.xd
 
         _yp = kp * err
-        _yi = ki*dt * yi
+        _yi = yi
         _yd = kd/dt * yd
 
         self.y = _yp + _yi + _yd