jens/brewpi
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix: split inner-loop yi_max clamp to fix HOLD-state windup overshoot

Browse Source 
Renames pid_hold/pid_heat/pid_cool to pid_outer/pid_inner/pid_inner_cool
to match what actually runs when, and splits inner-loop config into
Inner.Heat/Inner.Hold/Inner.Cool so the same PID instance gets a tight
yi_max ceiling only while HOLD drives it, without capping legitimate
1.5 K/min ramps. Fixes the overshoot from docs/overshoot_hold_windup.md
where a cold-water disturbance during HOLD wound up pid_heat's integral
term with no anti-windup engagement, taking ~35s+ to unwind naturally.

Breaking config change: Hold/Heat/Cool -> Outer/Inner.{Heat,Hold,Cool}
in config.json, both .tpl templates, the pid/sud demo scripts, and
replay_sim.py's CLI flags. Adds tests/components/pid/ (stdlib unittest)
covering the Pid clamp/recovery behavior and closed-loop disturbance,
ramp, and HOLD<->HEAT transition cases.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DGQhVQ2Y3yXAQTXhrxVd5u
This commit is contained in:
jens
2026-07-05 21:23:55 +02:00
co-authored by Claude Sonnet 5
parent da832b961e
commit f69d63c31b
17 changed files with 411 additions and 113 deletions
Download Patch File Download Diff File Expand all files Collapse all files
scripts/demos/pid/demo_temp_controller.py
+21 -12
View File
@@ -6,23 +6,32 @@ from components.pid.temp_controller import TempController
if __name__ == '__main__':
ctrl_params = {
"Hold": {
"Outer": {
"kp": 0.4,
"ki": 0.0,
"kd": 0.0,
"kt": 0.0
},
"Heat": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5
},
"Cool": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5
"Inner": {
"Heat": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5
},
"Hold": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5,
"yi_max": 0.3
},
"Cool": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5
}
}
}
scripts/demos/pid/demo_temp_controller_smith.py
+21 -12
View File
@@ -6,23 +6,32 @@ from components.pid.temp_controller_smith import TempController
if __name__ == '__main__':
ctrl_params = {
"Hold": {
"Outer": {
"kp": 0.4,
"ki": 0.0,
"kd": 0.0,
"kt": 0.0
},
"Heat": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5
},
"Cool": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5
"Inner": {
"Heat": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5
},
"Hold": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5,
"yi_max": 0.3
},
"Cool": {
"kp": 0.08,
"ki": 0.008,
"kd": 0.0,
"kt": 1.5
}
}
}
scripts/demos/sud/demo_sud.py
+21 -12
View File
@@ -17,23 +17,32 @@ if __name__ == '__main__':
theta_amb = 20
ctrl_params = {
"Hold": {
"Outer": {
"kp": 0.4,
"ki": 0.0,
"kd": 0.0,
"kt": 0.0
},
"Heat": {
"kp": 0.08,
"ki": 0.02,
"kd": 0.0,
"kt": 1.5
},
"Cool": {
"kp": 0.08,
"ki": 0.02,
"kd": 0.0,
"kt": 1.5
"Inner": {
"Heat": {
"kp": 0.08,
"ki": 0.02,
"kd": 0.0,
"kt": 1.5
},
"Hold": {
"kp": 0.08,
"ki": 0.02,
"kd": 0.0,
"kt": 1.5,
"yi_max": 0.3
},
"Cool": {
"kp": 0.08,
"ki": 0.02,
"kd": 0.0,
"kt": 1.5
}
}
}