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https://github.com/esphome/esphome.git
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a6d31f05ee
* PID Climate * Add sensor for debugging PID output value * Add dump_config, use percent * Add more observable values * Update * Set target temperature * Add autotuner * Add algorithm explanation * Add autotuner action, update controller * Add simulator * Format * Change defaults * Updates
80 lines
2.0 KiB
C++
80 lines
2.0 KiB
C++
#pragma once
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#include "esphome/core/esphal.h"
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namespace esphome {
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namespace pid {
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struct PIDController {
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float update(float setpoint, float process_value) {
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// e(t) ... error at timestamp t
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// r(t) ... setpoint
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// y(t) ... process value (sensor reading)
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// u(t) ... output value
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float dt = calculate_relative_time_();
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// e(t) := r(t) - y(t)
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error = setpoint - process_value;
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// p(t) := K_p * e(t)
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proportional_term = kp * error;
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// i(t) := K_i * \int_{0}^{t} e(t) dt
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accumulated_integral_ += error * dt * ki;
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// constrain accumulated integral value
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if (!isnan(min_integral) && accumulated_integral_ < min_integral)
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accumulated_integral_ = min_integral;
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if (!isnan(max_integral) && accumulated_integral_ > max_integral)
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accumulated_integral_ = max_integral;
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integral_term = accumulated_integral_;
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// d(t) := K_d * de(t)/dt
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float derivative = 0.0f;
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if (dt != 0.0f)
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derivative = (error - previous_error_) / dt;
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previous_error_ = error;
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derivative_term = kd * derivative;
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// u(t) := p(t) + i(t) + d(t)
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return proportional_term + integral_term + derivative_term;
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}
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/// Proportional gain K_p.
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float kp = 0;
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/// Integral gain K_i.
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float ki = 0;
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/// Differential gain K_d.
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float kd = 0;
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float min_integral = NAN;
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float max_integral = NAN;
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// Store computed values in struct so that values can be monitored through sensors
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float error;
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float proportional_term;
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float integral_term;
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float derivative_term;
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protected:
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float calculate_relative_time_() {
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uint32_t now = millis();
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uint32_t dt = now - this->last_time_;
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if (last_time_ == 0) {
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last_time_ = now;
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return 0.0f;
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}
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last_time_ = now;
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return dt / 1000.0f;
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}
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/// Error from previous update used for derivative term
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float previous_error_ = 0;
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/// Accumulated integral value
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float accumulated_integral_ = 0;
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uint32_t last_time_ = 0;
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};
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} // namespace pid
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} // namespace esphome
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