- Pid: D-Part need not to be error based

- increased pot delay to 30 s
2020-12-20 18:23:14 +01:00
parent d3e61ab72f
commit 5f60312d4e
2 changed files with 11 additions and 11 deletions
@@ -92,8 +92,8 @@ class TempController(AttributeChange):
 				state_next = States.HOLD
 				self.pid_hold.reset()

-		self.pid_hold.process(theta_err)
-		self.pid_rate.process(heatrate_err)
+		self.pid_hold.process(theta_err, -self.theta_ist)
+		self.pid_rate.process(heatrate_err, -self.heatrate_ist)

 		self.y = self.pid_rate.get_y()

@@ -123,10 +123,10 @@ if __name__ == '__main__':
 		},
 		"Heat": {
 			"dt": 1.0,
-			"kp": 0.1,
+			"kp": 0.2,
 			"ki": 0.01,
-			"kd": 0.0,
-			"kt": 1.0
+			"kd": 2.0,
+			"kt": 1.5
 		}
 	}

@@ -136,7 +136,7 @@ if __name__ == '__main__':
 		"C"			: 4190,
 		"M"			: 20,
 		"L"			: 0.05,
-		"Td"		: 12,
+		"Td"		: 30,
 		"kn"		: 0.2
 	}