blob: adb6e1360f14316cdf9275d71eef26fe679691d2 (
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
|
/*
* 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"
// 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;
};
class FileStore;
class FopDt
{
public:
FopDt();
bool SetParameters(float pg, float ptc, float pdt, float pMaxPwm, float temperatureLimit, float pVoltage, bool pUsePid, bool pInverted, uint16_t pPwmFreq);
float GetGain() const { return gain; }
float GetTimeConstant() const { return timeConstant; }
float GetDeadTime() const { return deadTime; }
float GetMaxPwm() const { return maxPwm; }
float GetVoltage() const { return standardVoltage; }
bool UsePid() const { return usePid; }
bool IsInverted() const { return inverted; }
bool IsEnabled() const { return enabled; }
uint16_t GetPwmFrequency() const { return pwmFreq; }
bool ArePidParametersOverridden() const { return pidParametersOverridden; }
M301PidParameters GetM301PidParameters(bool forLoadChange) const;
void SetM301PidParameters(const M301PidParameters& params);
const PidParameters& GetPidParameters(bool forLoadChange) const
{
return (forLoadChange) ? loadChangeParams : setpointChangeParams;
}
bool WriteParameters(FileStore *f, size_t heater) const; // Write the model parameters to file returning true if no error
private:
void CalcPidConstants();
float gain;
float timeConstant;
float deadTime;
float maxPwm;
float standardVoltage; // power voltage reading at which tuning was done, or 0 if unknown
PwmFrequency pwmFreq;
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_ */
|