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updates start procedure and PI

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This commit is contained in:
jenoack 2023-03-31 10:47:41 +02:00
parent 5e9046f13e
commit b66196b184
3 changed files with 79 additions and 64 deletions
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8
vscode/Unendlichkeitsmaschine/include/json.hpp
View file

@ -2,6 +2,7 @@
#define JSON_HPP
#include <ArduinoJson.h>
#include <Arduino.h>
#include <map>
#include <string>
@ -9,7 +10,7 @@ typedef struct {
unsigned long timestamp;
double integ;
double derivative;
double esc_output;
int esc_output;
double speed;
double current_speed;
double err;
@ -19,8 +20,9 @@ typedef struct {
double kd;
int max_speed;
int min_speed;
double max_esc_out;
double min_esc_out;
int max_esc_out;
int min_esc_out;
bool start_done;
}PIDStruct;
typedef struct

14
vscode/Unendlichkeitsmaschine/include/main.hpp
View file

@ -55,7 +55,7 @@ Servo ESC; // Der ESC-Controller (Electronic Speed Controller bzw. elektroni
Oled display;
const unsigned long MAX_TIME_PER_TURN_MS = 200;
const unsigned long UPDATE_ESC_EVERY_MS = 100;
const unsigned long UPDATE_ESC_EVERY_MS = 50;
const uint8_t HALL_SENSORS_COUNT = 8; // input, sec, min, hour, day, week, month, year
const uint8_t ALL_DATA_COUNT = HALL_SENSORS_COUNT;
@ -107,11 +107,11 @@ const uint8_t TIME_PER_ROUND_VALS = 10;
const uint8_t MAX_ESC_OUT = 100;
const uint8_t MIN_ESC_OUT = 0;
const long MAX_D_VALUE = 10;
const long MIN_D_VALUE = -10;
const long MAX_I_VALUE = 10;
const long MIN_I_VALUE = -10;
const long MAX_P_VALUE = 10;
const long MIN_P_VALUE = -10;
const long MAX_D_VALUE = 50;
const long MIN_D_VALUE = -50;
const long MAX_I_VALUE = 50;
const long MIN_I_VALUE = -50;
const long MAX_P_VALUE = 50;
const long MIN_P_VALUE = -50;
#endif //MAIN_HPP

121
vscode/Unendlichkeitsmaschine/src/main.cpp
View file

@ -27,6 +27,7 @@ void speed_set();
void eval_max_min_speed();
void PID();
void limit_values(double calc_value, double *pvalue, double factor, double min_limit , double max_limit);
unsigned long time_per_round_calc();
void count_secs(time_t* run_time);
@ -60,8 +61,8 @@ void setup()
Serial.println("Init ETC ...");
ESC.attach(ESC_PIN,1000,2000);
display.progressBar(0,"Init controller", true);
ESC.write(180);
delay(1000);
ESC.write(20);
delay(2000);
display.progressBar(1,"Connect ETC!", "Please connnect the ETC", "controller to power!", true);
delay(5000);
display.progressBar(2,"Calibrating ETC", "You may hear some beeps.", "If not - check ETC connection.", true);
@ -104,6 +105,11 @@ void setup()
Serial.println(" Measuring min and max speed values ... ");
eval_max_min_speed();
#ifdef HAS_MQTT
display.progressBar(100,"Init done!", "Connection to MQTT ...", true);
#else
display.progressBar(100,"Init done!", "Starting ...", true);
#endif
Serial.println(" Auf gehts ... ");
}
@ -117,11 +123,11 @@ void loop()
data_check();
data_store();
display.show_values(Pid_params.speed, Pid_params.min_speed, Pid_params.max_speed, HallData, HALL_SENSORS_COUNT, run_time, capportal.localIP());
#ifdef HAS_MQTT
mqtt.send_and_loop("infinity/data", json.create_json_string(AllData, ALL_DATA_COUNT, &Pid_params, run_time));
#endif
display.show_values(Pid_params.speed, Pid_params.min_speed, Pid_params.max_speed, HallData, HALL_SENSORS_COUNT, run_time, capportal.localIP());
}
@ -130,7 +136,7 @@ void eval_max_min_speed()
display.progressBar(0,"Min/Max measure!", true);
Pid_params.min_esc_out = 0;
Pid_params.min_speed = 0;
for(uint8_t out = Pid_params.min_speed; out < Pid_params.max_esc_out; out++)
for(int out = Pid_params.min_speed; out < Pid_params.max_esc_out; out++)
{
ESC.write(out);
String esc_str = String("esc_out = " + String(out));
@ -161,7 +167,11 @@ void eval_max_min_speed()
Pid_params.max_speed = HallData[0].value;
display.progressBar(100,"Max speed/esc:", String("max_speed =" + String(Pid_params.max_speed) ).c_str(), String("max_esc_out = " + String(Pid_params.max_esc_out)).c_str(), true);
ESC.write(0);
Serial.printf(">min_speed:%d\n>max_speed:%d\n>min_esc_out:%d\n>max_esc_out:%d\n",Pid_params.min_speed, Pid_params.max_speed, Pid_params.min_esc_out, Pid_params.max_esc_out );
Serial.printf(">min_speed:%d\n>max_speed:%d\n>min_esc_out:%f\n>max_esc_out:%f\n",
Pid_params.min_speed,
Pid_params.max_speed,
Pid_params.min_esc_out,
Pid_params.max_esc_out );
delay(2000);
}
@ -179,72 +189,66 @@ void count_secs(time_t* run_time)
}
}
void PID()
void limit_values(double calc_value, double *pvalue, double factor, double min_limit , double max_limit)
{
Pid_params.current_speed = HallData[0].value;
if(Pid_params.ki==0)
if(factor != 0)
{
Pid_params.integ = 0;
}
if(Pid_params.kd==0)
{
Pid_params.derivative = 0;
}
Pid_params.err = constrain(Pid_params.speed - Pid_params.current_speed, -1*Pid_params.max_speed, Pid_params.current_speed);
double int_integ = Pid_params.integ + Pid_params.err;
double int_derivative = Pid_params.err - last_error;
if(Pid_params.ki != 0)
{
if(Pid_params.ki*int_integ > MAX_I_VALUE)
if(factor*calc_value > max_limit)
{
Pid_params.integ = MAX_I_VALUE/Pid_params.ki;
*pvalue = max_limit/factor;
}
else if(Pid_params.ki*int_integ < MIN_I_VALUE)
else if(factor*calc_value < min_limit)
{
Pid_params.integ = MIN_I_VALUE/Pid_params.ki;
*pvalue = min_limit/factor;
}
else
{
Pid_params.integ = int_integ;
*pvalue = calc_value;
}
}
else
{
Pid_params.integ = 0;
*pvalue = 0;
}
}
if(Pid_params.kd != 0)
{
if(Pid_params.kd*int_derivative > MAX_D_VALUE)
{
Pid_params.derivative = MAX_D_VALUE/Pid_params.kd;
}
else if(Pid_params.kd*int_derivative < MIN_D_VALUE)
{
Pid_params.derivative = MIN_D_VALUE/Pid_params.kd;
}
else
{
Pid_params.derivative = int_derivative;
}
}
else
{
Pid_params.derivative = 0;
}
void PID()
{
static unsigned long last_pid_ms = millis();
Pid_params.current_speed = HallData[0].value;
Pid_params.err = constrain(Pid_params.speed - Pid_params.current_speed, -1*Pid_params.max_speed, Pid_params.max_speed);
limit_values(Pid_params.integ + Pid_params.err, &Pid_params.integ, Pid_params.ki, MIN_I_VALUE , MAX_I_VALUE);
limit_values(Pid_params.err - last_error, &Pid_params.derivative, Pid_params.kd, MIN_D_VALUE , MAX_D_VALUE);
last_error = Pid_params.err;
Pid_params.output = Pid_params.kp * Pid_params.err + Pid_params.ki * Pid_params.integ + Pid_params.kd * Pid_params.derivative;
if(-1 == ser_esc_output )
{
Pid_params.esc_output = constrain(Pid_params.output, Pid_params.min_esc_out, Pid_params.max_esc_out);
if(Pid_params.start_done == true)
{
last_pid_ms = millis();
Pid_params.esc_output = int(Pid_params.min_esc_out + constrain(Pid_params.output, 0, Pid_params.max_esc_out - Pid_params.min_esc_out));
}
else
{
double rise = (double(Pid_params.max_esc_out - Pid_params.min_esc_out)/ double(Pid_params.max_speed - Pid_params.min_speed));
double offset = double(Pid_params.max_esc_out) - rise*Pid_params.max_speed;
Pid_params.esc_output = int(rise*Pid_params.speed + offset);
Pid_params.derivative = 0;
Pid_params.integ = 0;
Serial.printf("Start speed ... rise=%6.3f offset=%6.3f esc_out=%d\n", rise, offset, Pid_params.esc_output);
if((millis() - last_pid_ms > 2000) || (abs(Pid_params.current_speed - Pid_params.speed)>= (0.1*Pid_params.speed)) )
{
Pid_params.start_done = true;
}
}
}
else
{
Pid_params.esc_output = ser_esc_output;
}
last_error = Pid_params.err;
}
unsigned long time_per_round_calc()
@ -308,7 +312,13 @@ void speed_set()
if(0 == last_esc_write_ms || millis() - last_esc_write_ms > UPDATE_ESC_EVERY_MS)
{
PID();
Serial.printf(">speed:%06.3f\n>current:%06.3f\n>esc:%06.3f\n>prop:%06.3f\n>derive:%06.3f\n>integ:%06.3f\n",Pid_params.speed, Pid_params.current_speed, Pid_params.esc_output, Pid_params.err, Pid_params.derivative, Pid_params.integ);
Serial.printf(">speed:%06.3f\n>current:%06.3f\n>esc:%06d\n>prop:%06.3f\n>derive:%06.3f\n>integ:%06.3f\n",
Pid_params.speed,
Pid_params.current_speed,
Pid_params.esc_output,
Pid_params.err * Pid_params.kp,
Pid_params.derivative* Pid_params.kd,
Pid_params.integ* Pid_params.ki);
//Serial.printf(">speed:%06.3f\n>current:%06.3f\n>esc:%06.3f\n",Pid_params.speed, Pid_params.current_speed, Pid_params.esc_output);
ESC.write(Pid_params.esc_output);
last_esc_write_ms = millis();
@ -319,21 +329,23 @@ void speed_set()
void data_init()
{
Serial.println("Init internal data ...");
//kp=0.006000 ki=0.002000 kd=0.006000
Pid_params.timestamp = millis();
Pid_params.integ = 0.0;
Pid_params.derivative = 0.0;
Pid_params.esc_output = 0.0;
Pid_params.esc_output = 0;
Pid_params.speed = 1000.0;
Pid_params.current_speed = 0.0;
Pid_params.err = 0;
Pid_params.output = 0.0;
Pid_params.kp = 0.002;
Pid_params.ki = 0.003;
Pid_params.kd = 0.001;
Pid_params.kp = 0.006;
Pid_params.ki = 0.002;
Pid_params.kd = 0.006;
Pid_params.max_speed = 5000;
Pid_params.min_speed = 0;
Pid_params.max_esc_out = MAX_ESC_OUT;
Pid_params.min_esc_out = MIN_ESC_OUT;
Pid_params.start_done = false;
#ifdef MACHINE_RESTART
run_time = 0;
start_time = capportal.epochTime();
@ -448,6 +460,7 @@ void get_serial_cmd()
Serial.printf("Set ki to %f\n", Pid_params.ki);
}
else if(command.startsWith("speed=")){
Pid_params.start_done = false;
Pid_params.speed = command.substring(command.indexOf("=")+1).toDouble();
Serial.printf("Set speed to %f\n", Pid_params.speed);
}