blob: 84ac812364d59f4f454d9482afe1edaabb2a8afc (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
|
/*
* FOPDT.h
*
* Created on: 16 Aug 2016
* Author: David
*
* Class to represent the parameters of a first order process with dead time
*/
#ifndef SRC_HEATING_FOPDT_H_
#define SRC_HEATING_FOPDT_H_
#include "RepRapFirmware.h"
#include "ObjectModel/ObjectModel.h"
// This is how PID parameters are stored internally
struct PidParameters
{
float kP; // controller (not model) gain
float recipTi; // reciprocal of controller integral time
float tD; // controller differential time
};
// This is how PID parameters are given in M301 commands
struct M301PidParameters
{
float kP;
float kI;
float kD;
};
#if HAS_MASS_STORAGE
class FileStore;
#endif
#if SUPPORT_CAN_EXPANSION
struct CanMessageUpdateHeaterModelNew;
#endif
class FopDt INHERIT_OBJECT_MODEL
{
public:
FopDt() noexcept;
void Clear() noexcept;
bool SetParameters(float phr, float pcrFanOff, float pcrFanOn, float pdt, float pMaxPwm, float temperatureLimit, float pVoltage, bool pUsePid, bool pInverted) noexcept;
void SetDefaultToolParameters() noexcept;
void SetDefaultBedOrChamberParameters() noexcept;
// Stored parameters
float GetHeatingRate() const noexcept { return heatingRate; }
float GetCoolingRateFanOff() const noexcept { return coolingRateFanOff; }
float GetCoolingRateFanOn() const noexcept { return coolingRateFanOff + coolingRateChangeFanOn; }
float GetCoolingRateChangeFanOn() const noexcept { return coolingRateChangeFanOn; }
float GetDeadTime() const noexcept { return deadTime; }
float GetMaxPwm() const noexcept { return maxPwm; }
float GetVoltage() const noexcept { return standardVoltage; }
bool UsePid() const noexcept { return usePid; }
bool IsInverted() const noexcept { return inverted; }
bool IsEnabled() const noexcept { return enabled; }
// Derived parameters
float GetGainFanOff() const noexcept { return heatingRate/coolingRateFanOff; }
float GetTimeConstantFanOff() const noexcept { return 1.0/coolingRateFanOff; }
float GetTimeConstantFanOn() const noexcept { return 1.0/GetCoolingRateFanOn(); }
bool ArePidParametersOverridden() const noexcept { return pidParametersOverridden; }
M301PidParameters GetM301PidParameters(bool forLoadChange) const noexcept;
void SetM301PidParameters(const M301PidParameters& params) noexcept;
const PidParameters& GetPidParameters(bool forLoadChange) const noexcept
{
return (forLoadChange) ? loadChangeParams : setpointChangeParams;
}
#if HAS_MASS_STORAGE
bool WriteParameters(FileStore *f, size_t heater) const noexcept; // erite the model parameters to file returning true if no error
#endif
#if SUPPORT_CAN_EXPANSION
void SetupCanMessage(unsigned int heater, CanMessageUpdateHeaterModelNew& msg) const noexcept;
#endif
protected:
DECLARE_OBJECT_MODEL
private:
void CalcPidConstants() noexcept;
float heatingRate;
float coolingRateFanOff;
float coolingRateChangeFanOn;
float deadTime;
float maxPwm;
float standardVoltage; // power voltage reading at which tuning was done, or 0 if unknown
bool enabled;
bool usePid;
bool inverted;
bool pidParametersOverridden;
PidParameters setpointChangeParams; // parameters for handling changes in the setpoint
PidParameters loadChangeParams; // parameters for handling changes in the load
};
#endif /* SRC_HEATING_FOPDT_H_ */
|
