-added anti windup

components/pid/pid.py

@@ -11,30 +11,32 @@ class Pid:
         # Differentiator
         self.err = 0
 
-        # Auto windup
+        # Anti windup
         self.y_min = -1.0
         self.y_max = 1.0
+        self.awu = 0
 
         # Output
         self.y = 0
 
     @staticmethod
-    def params(kp, ki, kd, rho):
+    def params(kp, ki, kd, kt):
-        p = dict(kp=kp, ki=ki, kd=kd, rho=rho)
+        p = dict(kp=kp, ki=ki, kd=kd, kt=kt)
         return p
 
     def reset(self):
         self.yi = 0
         self.err = 0
+        self.awu = 0
 
     def process(self, err):
         dt = self.params['dt']
         kp = self.params['kp']
         ki = self.params['ki']
         kd = self.params['kd']
-        rho = self.params['rho']
+        kt = self.params['kt']
 
-        self.yi = rho*self.yi + ki*dt * err
+        self.yi = self.yi + ki*dt * err + kt*dt * self.awu
         yd = kd/dt*(err - self.err)
         yp = kp * err
 
@@ -44,5 +46,8 @@ class Pid:
 
         self.y = max(self.y_min, min(self.y_max, y))
 
+        # Anti windup
+        self.awu = self.y - y
+
     def get_y(self):
         return self.y

components/pid/temp_controller.py

@@ -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: