-added anti windup

2020-12-11 15:17:52 +01:00
parent e5139c5695
commit 8d57299d83
2 changed files with 14 additions and 9 deletions
@@ -75,7 +75,7 @@ class TempController(AttributeChange):
 				self.pid_rate.reset()
 			elif diff > -THRESH_IDLE_HOLD:
 				state_next = States.HOLD
-				self.pid_hold.reset()
+				self.pid_rate.reset()
 		elif self.state == States.HOLD:
 			if diff > THRESH_HEAT:
 				state_next = States.HEAT
@@ -109,14 +109,14 @@ if __name__ == '__main__':
 			"kp": 0.5,
 			"ki": 0.0,
 			"kd": 0.0,
-			"rho": 1.0
+			"kt": 0.0
 		},
 		"Heat": {
 			"dt": 1.0,
 			"kp": 0.1,
 			"ki": 0.01,
 			"kd": 0.0,
-			"rho": 1.0
+			"kt": 1.0
 		}
 	}

@@ -159,7 +159,7 @@ if __name__ == '__main__':
 		hold_counter = temp['Duration']
 		hold = False
 		ctrl.set_theta_soll(temp_soll)
-		ctrl.set_heatrate_soll(2.0)
+		ctrl.set_heatrate_soll(2.5)

 		while True:
 			if hold: