jensandClaude Sonnet 4.6
1e89a58370
Pid.scale(k) set self.k as persistent state, mutated from outside the class and never reset in reset(), so a stale scale factor could survive a state-transition reset. Replace it with a plain scale=1.0 argument on Pid.process(), and have temp_controller.py/temp_controller_smith.py compute the heat-rate-overshoot compensation factor themselves and pass it through process_pid() each tick instead of mutating pid_hold's state. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
52 lines
990 B
Python
52 lines
990 B
Python
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class Pid:
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def __init__(self, dt):
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self.dt = dt
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self.params = None
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# Integrator
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self.yi = 0
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# Differentiator
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self.d = 0
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# Anti windup
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self.y_min = -1.0
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self.y_max = 1.0
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self.awu = 0
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# Output
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self.y = 0
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def set_params(self, params):
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self.params = params
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def reset(self):
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self.yi = 0
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self.d = 0
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self.awu = 0
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def process(self, err, d, scale=1.0):
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dt = self.dt
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kp = self.params['kp'] * scale
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ki = self.params['ki'] * scale
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kd = self.params['kd'] * scale
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kt = self.params['kt'] * scale
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self.yi = self.yi + ki*dt * err + kt*dt * self.awu
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yd = kd/dt*(d - self.d)
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yp = kp * err
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self.d = d
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y = yp + self.yi + yd
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self.y = max(self.y_min, min(self.y_max, y))
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# Anti windup
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self.awu = self.y - y
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def get_y(self):
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return self.y
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