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- PID: Reset yi on error sign changes

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jens
2020-12-01 21:59:03 +01:00
parent 8b481a98b8
commit 5260af8bbd
2 changed files with 12 additions and 10 deletions
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brewpi.py
+1 -1
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@@ -229,7 +229,7 @@ if __name__ == '__main__':
"kp": 0.8, "kp": 0.8,
"ki": 0.00001, "ki": 0.00001,
"kd": 0.0, "kd": 0.0,
"rho": 0.0 "rho": 1.0
} }
}, },
"Heat": { "Heat": {
components/pid/pid.py
+11 -9
View File
@@ -1,3 +1,4 @@
import numpy as np
class Pid: class Pid:
@@ -6,12 +7,11 @@ class Pid:
self.yi = 0 self.yi = 0
# Differentiator # Differentiator
self.xd = 0 self.err = 0
# Auto windup # Auto windup
self.y_min = -1.0 self.y_min = -1.0
self.y_max = 1.0 self.y_max = 1.0
self.d = 0
# Output # Output
self.y = 0 self.y = 0
@@ -23,7 +23,7 @@ class Pid:
def reset(self): def reset(self):
self.yi = 0 self.yi = 0
self.xd = 0 self.err = 0
def process(self, dt, params, err): def process(self, dt, params, err):
kp = params['kp'] kp = params['kp']
@@ -31,21 +31,23 @@ class Pid:
kd = params['kd'] kd = params['kd']
rho = params['rho'] rho = params['rho']
yi = self.yi + ki*dt * err - ki*dt - self.d * rho yi = rho*self.yi + ki*dt * err
yd = err - self.xd yd = err - self.err
_yp = kp * err _yp = kp * err
_yi = yi _yi = yi
_yd = kd/dt * yd _yd = kd/dt * yd
# Reset yi on error sign changes
if np.sign(err) != np.sign(self.err):
_yi = 0
y = _yp + _yi + _yd y = _yp + _yi + _yd
self.y = max(self.y_min, min(self.y_max, y)) self.y = max(self.y_min, min(self.y_max, y))
self.d = max(0, self.y - y) print("y = {}".format(_yi))
if self.d < 0:
print("d = {}".format(self.d))
self.yi = yi self.yi = yi
self.xd = err self.err = err
def get_y(self): def get_y(self):
return self.y return self.y