jensandClaude Sonnet 5
f69d63c31b
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
55 lines
1.1 KiB
Python
55 lines
1.1 KiB
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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yi_max = self.params.get('yi_max')
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if yi_max is not None:
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self.yi = max(-yi_max, min(yi_max, self.yi))
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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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