jensandClaude Sonnet 5
2d032bf9b2
Testing the windup-fix rework live against sude/sud_0030.json surfaced a
distinct bug: a HOLD overshoot from grain-fill-in cooling never decayed -
process_pid()'s pid_outer_y floor clamped to exactly 0.0, so pid_inner
fought the pot's own ambient loss to hold the overshot temperature flat
instead of declining back to setpoint (see docs/overshoot2.png).
Replace the hardcoded 0.0 floor with a configurable Outer.y_hold_min
(default 0.0, backward compatible), set to -0.1 in config.json, both
.tpl templates, and the demo scripts - small enough to avoid
reintroducing the bb5af3c limit cycle while letting HOLD request a
gentle decline matching passive ambient cooling.
Adds TestHoldOvershootRecoversToSetpoint and documents the finding in
docs/overshoot_hold_windup.md's Follow-up section and
components/pid/TODO.md. Confirmed against a live sud_0030 re-run, not
just the unit test.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01M2ierBoxW3v7nUbDw3M2pE
67 lines
993 B
Smarty
67 lines
993 B
Smarty
{
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"ambient_temperature": 20,
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"log_interval": 300,
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"TempCtrl": {
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"pid_type": "Smith",
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"beta": 0.05,
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"Outer": {
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"kp": 0.4,
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"ki": 0.0,
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"kd": 0.0,
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"kt": 0.0,
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"y_hold_min": -0.1
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},
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"Inner": {
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"Heat": {
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"kp": 0.08,
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"ki": 0.02,
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"kd": 0.0,
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"kt": 1.5
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},
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"Hold": {
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"kp": 0.08,
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"ki": 0.02,
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"kd": 0.0,
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"kt": 1.5,
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"yi_max": 0.3
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},
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"Cool": {
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"kp": 0.08,
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"ki": 0.02,
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"kd": 0.0,
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"kt": 1.5
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}
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},
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"Thresholds": {
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"HoldHeat": 1.0,
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"HoldCool": 1.0,
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"HeatHold": 1.0,
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"HeatCool": 1.0,
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"CoolHold": 1.0,
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"CoolHeat": 1.0
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}
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},
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"Heater": {
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"type": "hendi",
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"port": "/dev/ttyUSB0",
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"speed": "115200"
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},
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"Stirrer": {
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"type": "pololu1376",
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"port": "/dev/ttyACM0",
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"speed": "115200"
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},
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"TempSensor": {
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"type": "max31865",
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"temp_offset": -0.15
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},
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"Pot": {
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"mass": 5.96,
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"material": "Edelstahl 18/10",
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"L": 0.2,
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"Td": 17,
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"water_mass": 22,
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"volumen": 30
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}
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}
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