mirror of https://github.com/arendst/Tasmota.git
Bugfix and autotune added (disabled by define, as experimental and untested)
This commit is contained in:
Javier Arigita
parent
b31455c8eb
commit
ee25e6e637
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@ -696,6 +696,11 @@
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#define THERMOSTAT_TIME_OUTPUT_DELAY 180 // Default output delay between state change and real actuation event (f.i. valve open/closed)
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#define THERMOSTAT_TEMP_INIT 180 // Default init target temperature for the thermostat controller
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#define THERMOSTAT_TIME_MAX_OUTPUT_INCONSIST 3 // Default maximum time where the input and the outpus shall differ (for diagnostic) in minutes
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#define THERMOSTAT_TIME_MAX_AUTOTUNE 21600 // Maximum time for the PI autotune function to complete in seconds
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#define THERMOSTAT_DUTYCYCLE_AUTOTUNE 35 // Default duty cycle (in % over PI cycle time) for the step response of the autotune PI function
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#define THERMOSTAT_PEAKNUMBER_AUTOTUNE 8 // Default number of peak temperatures (max or min) to be used for the autotune PI function
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#define THERMOSTAT_TEMP_BAND_NO_PEAK_DET 1 // Default temperature band in thenths of degrees celsius within no peak will be detected
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#define THERMOSTAT_TIME_STD_DEV_PEAK_DET_OK 10 // Default standard deviation in minutes of the oscillation periods within the peak detection is successful
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// -- End of general directives -------------------
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@ -24,6 +24,9 @@
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// Enable/disable debugging
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//#define DEBUG_THERMOSTAT
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// Enable/disable experimental PI auto-tuning
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//#define USE_PI_AUTOTUNING // (Ziegler-Nichols closed loop method)
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#ifdef DEBUG_THERMOSTAT
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#define DOMOTICZ_MAX_IDX 4
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#define DOMOTICZ_IDX1 791
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@ -56,6 +59,9 @@
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#define D_CMND_TIMEPICYCLESET "TimePiCycleSet"
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#define D_CMND_TEMPANTIWINDUPRESETSET "TempAntiWindupResetSet"
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#define D_CMND_TEMPHYSTSET "TempHystSet"
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#ifdef USE_PI_AUTOTUNING
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#define D_CMND_PERFLEVELAUTOTUNE "PerfLevelAutotune"
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#endif // USE_PI_AUTOTUNING
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#define D_CMND_TIMEMAXACTIONSET "TimeMaxActionSet"
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#define D_CMND_TIMEMINACTIONSET "TimeMinActionSet"
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#define D_CMND_TIMEMINTURNOFFACTIONSET "TimeMinTurnoffActionSet"
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@ -70,8 +76,15 @@
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#define D_CMND_DIAGNOSTICMODESET "DiagnosticModeSet"
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enum ThermostatModes { THERMOSTAT_OFF, THERMOSTAT_AUTOMATIC_OP, THERMOSTAT_MANUAL_OP, THERMOSTAT_MODES_MAX };
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#ifdef USE_PI_AUTOTUNING
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enum ControllerModes { CTR_HYBRID, CTR_PI, CTR_RAMP_UP, CTR_PI_AUTOTUNE, CTR_MODES_MAX };
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enum ControllerHybridPhases { CTR_HYBRID_RAMP_UP, CTR_HYBRID_PI, CTR_HYBRID_PI_AUTOTUNE };
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enum AutotuneStates { AUTOTUNE_OFF, AUTOTUNE_ON, AUTOTUNE_MAX };
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enum AutotunePerformanceParam { AUTOTUNE_PERF_FAST, AUTOTUNE_PERF_NORMAL, AUTOTUNE_PERF_SLOW, AUTOTUNE_PERF_MAX };
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#else
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enum ControllerModes { CTR_HYBRID, CTR_PI, CTR_RAMP_UP, CTR_MODES_MAX };
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enum ControllerHybridPhases { CTR_HYBRID_RAMP_UP, CTR_HYBRID_PI };
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#endif // USE_PI_AUTOTUNING
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enum ClimateModes { CLIMATE_HEATING, CLIMATE_COOLING, CLIMATE_MODES_MAX };
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enum InterfaceStates { IFACE_OFF, IFACE_ON };
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enum InputUsage { INPUT_NOT_USED, INPUT_USED };
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@ -113,17 +126,29 @@ typedef union {
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uint32_t status_output : 1; // Flag stating state of the output (0 = inactive, 1 = active)
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uint32_t status_input : 1; // Flag stating state of the input (0 = inactive, 1 = active)
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uint32_t use_input : 1; // Flag stating if the input switch shall be used to switch to manual mode
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uint32_t phase_hybrid_ctr : 1; // Phase of the hybrid controller (Ramp-up or PI)
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uint32_t phase_hybrid_ctr : 2; // Phase of the hybrid controller (Ramp-up, PI or Autotune)
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uint32_t status_cycle_active : 1; // Status showing if cycle is active (Output ON) or not (Output OFF)
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uint32_t state_emergency : 1; // State for thermostat emergency
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uint32_t counter_seconds : 6; // Second counter used to track minutes
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uint32_t output_relay_number : 4; // Output relay number
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uint32_t input_switch_number : 3; // Input switch number
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uint32_t output_inconsist_ctr : 2; // Counter of the minutes where the output state is inconsistent with the command
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uint32_t diagnostic_mode : 1; // Diagnostic mode selected
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uint32_t free : 1; // Free bits in Bitfield
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#ifdef USE_PI_AUTOTUNING
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uint32_t autotune_flag : 1; // Enable/disable autotune
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uint32_t autotune_perf_mode : 2; // Autotune performance mode
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uint32_t free : 1; // Free bits
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#else
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uint32_t free : 4; // Free bits
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#endif // USE_PI_AUTOTUNING
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};
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} ThermostatBitfield;
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} ThermostatStateBitfield;
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typedef union {
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uint8_t data;
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struct {
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uint8_t state_emergency : 1; // State for thermostat emergency
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uint8_t diagnostic_mode : 1; // Diagnostic mode selected
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uint8_t output_inconsist_ctr : 2; // Counter of the minutes where the output state is inconsistent with the command
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};
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} ThermostatDiagBitfield;
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#ifdef DEBUG_THERMOSTAT
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const char DOMOTICZ_MES[] PROGMEM = "{\"idx\":%d,\"nvalue\":%d,\"svalue\":\"%s\"}";
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@ -135,28 +160,36 @@ const char kThermostatCommands[] PROGMEM = "|" D_CMND_THERMOSTATMODESET "|" D_CM
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D_CMND_OUTPUTRELAYSET "|" D_CMND_TIMEALLOWRAMPUPSET "|" D_CMND_TEMPFORMATSET "|" D_CMND_TEMPMEASUREDSET "|"
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D_CMND_TEMPTARGETSET "|" D_CMND_TEMPMEASUREDGRDREAD "|" D_CMND_SENSORINPUTSET "|" D_CMND_STATEEMERGENCYSET "|"
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D_CMND_TIMEMANUALTOAUTOSET "|" D_CMND_PROPBANDSET "|" D_CMND_TIMERESETSET "|" D_CMND_TIMEPICYCLESET "|"
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D_CMND_TEMPANTIWINDUPRESETSET "|" D_CMND_TEMPHYSTSET "|" D_CMND_TIMEMAXACTIONSET "|" D_CMND_TIMEMINACTIONSET "|"
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D_CMND_TIMEMINTURNOFFACTIONSET "|" D_CMND_TEMPRUPDELTINSET "|" D_CMND_TEMPRUPDELTOUTSET "|" D_CMND_TIMERAMPUPMAXSET "|"
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D_CMND_TIMERAMPUPCYCLESET "|" D_CMND_TEMPRAMPUPPIACCERRSET "|" D_CMND_TIMEPIPROPORTREAD "|" D_CMND_TIMEPIINTEGRREAD "|"
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D_CMND_TIMESENSLOSTSET "|" D_CMND_DIAGNOSTICMODESET;
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#ifdef USE_PI_AUTOTUNING
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D_CMND_TEMPANTIWINDUPRESETSET "|" D_CMND_TEMPHYSTSET "|" D_CMND_PERFLEVELAUTOTUNE "|" D_CMND_TIMEMAXACTIONSET "|"
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#else
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D_CMND_TEMPANTIWINDUPRESETSET "|" D_CMND_TEMPHYSTSET "|" D_CMND_TIMEMAXACTIONSET "|"
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#endif // USE_PI_AUTOTUNING
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D_CMND_TIMEMINACTIONSET "|" D_CMND_TIMEMINTURNOFFACTIONSET "|" D_CMND_TEMPRUPDELTINSET "|" D_CMND_TEMPRUPDELTOUTSET "|"
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D_CMND_TIMERAMPUPMAXSET "|" D_CMND_TIMERAMPUPCYCLESET "|" D_CMND_TEMPRAMPUPPIACCERRSET "|" D_CMND_TIMEPIPROPORTREAD "|"
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D_CMND_TIMEPIINTEGRREAD "|" D_CMND_TIMESENSLOSTSET "|" D_CMND_DIAGNOSTICMODESET;
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void (* const ThermostatCommand[])(void) PROGMEM = {
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&CmndThermostatModeSet, &CmndClimateModeSet, &CmndTempFrostProtectSet, &CmndControllerModeSet, &CmndInputSwitchSet,
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&CmndInputSwitchUse, &CmndOutputRelaySet, &CmndTimeAllowRampupSet, &CmndTempFormatSet, &CmndTempMeasuredSet,
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&CmndTempTargetSet, &CmndTempMeasuredGrdRead, &CmndSensorInputSet, &CmndStateEmergencySet, &CmndTimeManualToAutoSet,
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&CmndPropBandSet, &CmndTimeResetSet, &CmndTimePiCycleSet, &CmndTempAntiWindupResetSet, &CmndTempHystSet,
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#ifdef USE_PI_AUTOTUNING
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&CmndPerfLevelAutotune, &CmndTimeMaxActionSet, &CmndTimeMinActionSet, &CmndTimeMinTurnoffActionSet, &CmndTempRupDeltInSet,
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#else
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&CmndTimeMaxActionSet, &CmndTimeMinActionSet, &CmndTimeMinTurnoffActionSet, &CmndTempRupDeltInSet,
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#endif // USE_PI_AUTOTUNING
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&CmndTempRupDeltOutSet, &CmndTimeRampupMaxSet, &CmndTimeRampupCycleSet, &CmndTempRampupPiAccErrSet,
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&CmndTimePiProportRead, &CmndTimePiIntegrRead, &CmndTimeSensLostSet, &CmndDiagnosticModeSet };
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struct THERMOSTAT {
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ThermostatBitfield status; // Bittfield including states as well as several flags
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ThermostatStateBitfield status; // Bittfield including states as well as several flags
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uint32_t timestamp_temp_measured_update = 0; // Timestamp of latest measurement update
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uint32_t timestamp_temp_meas_change_update = 0; // Timestamp of latest measurement value change (> or < to previous)
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uint32_t timestamp_output_off = 0; // Timestamp of latest thermostat output Off state
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uint32_t timestamp_input_on = 0; // Timestamp of latest input On state
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uint32_t time_thermostat_total = 0; // Time thermostat on within a specific timeframe
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uint32_t time_ctr_checkpoint = 0; // Time to finalize the control cycle within the PI strategy or to switch to PI from Rampup
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uint32_t time_ctr_checkpoint = 0; // Time to finalize the control cycle within the PI strategy or to switch to PI from Rampup in seconds
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uint32_t time_ctr_changepoint = 0; // Time until switching off output within the controller in seconds
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int32_t temp_measured_gradient = 0; // Temperature measured gradient from sensor in thousandths of degrees per hour
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int16_t temp_target_level = THERMOSTAT_TEMP_INIT; // Target level of the thermostat in tenths of degrees
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@ -167,7 +200,7 @@ struct THERMOSTAT {
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int32_t time_integral_pi; // Time integral part of the PI controller
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int32_t time_total_pi; // Time total (proportional + integral) of the PI controller
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uint16_t kP_pi = 0; // kP value for the PI controller multiplied by 100 (to avoid floating point operations)
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uint16_t kI_pi = 0; // kP value for the PI controller multiplied by 100 (to avoid floating point operations)
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uint16_t kI_pi = 0; // kI value for the PI controller multiplied by 100 (to avoid floating point operations)
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int32_t temp_rampup_meas_gradient = 0; // Temperature measured gradient from sensor in thousandths of degrees celsius per hour calculated during ramp-up
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uint32_t timestamp_rampup_start = 0; // Timestamp where the ramp-up controller mode has been started
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uint32_t time_rampup_deadtime = 0; // Time constant of the thermostat system (step response time)
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@ -195,6 +228,23 @@ struct THERMOSTAT {
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uint8_t temp_reset_anti_windup = THERMOSTAT_TEMP_RESET_ANTI_WINDUP; // Range where reset antiwindup is disabled, in tenths of degrees celsius
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int8_t temp_hysteresis = THERMOSTAT_TEMP_HYSTERESIS; // Range hysteresis for temperature PI controller, in tenths of degrees celsius
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uint8_t temp_frost_protect = THERMOSTAT_TEMP_FROST_PROTECT; // Minimum temperature for frost protection, in tenths of degrees celsius
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ThermostatDiagBitfield diag; // Bittfield including diagnostic flags
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#ifdef USE_PI_AUTOTUNING
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uint8_t dutycycle_step_autotune = THERMOSTAT_DUTYCYCLE_AUTOTUNE; // Duty cycle for the step response of the autotune PI function in %
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uint8_t peak_ctr = 0; // Peak counter for the autotuning function
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uint8_t temp_band_no_peak_det = THERMOSTAT_TEMP_BAND_NO_PEAK_DET; // Temperature band in thenths of degrees celsius within no peak will be detected
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uint8_t val_prop_band_atune = 0; // Proportional band calculated from the the PI autotune function in degrees celsius
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uint32_t time_reset_atune = 0; // Reset time calculated from the PI autotune function in seconds
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uint16_t pU_pi_atune = 0; // pU value ("Ultimate" period) period of self-sustaining oscillations determined when the controller gain was set to Ku in minutes (for PI autotune)
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uint16_t kU_pi_atune = 0; // kU value ("Ultimate" gain) determined by increasing controller gain until self-sustaining oscillations are achieved (for PI autotune)
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uint16_t kP_pi_atune = 0; // kP value calculated by the autotune PI function multiplied by 100 (to avoid floating point operations)
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uint16_t kI_pi_atune = 0; // kI value calulated by the autotune PI function multiplied by 100 (to avoid floating point operations)
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int16_t temp_peaks_atune[THERMOSTAT_PEAKNUMBER_AUTOTUNE]; // Array to store temperature peaks to be used by the autotune PI function
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int16_t temp_abs_max_atune; // Max temperature reached within autotune
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int16_t temp_abs_min_atune; // Min temperature reached within autotune
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uint16_t time_peak_timestamps_atune[THERMOSTAT_PEAKNUMBER_AUTOTUNE]; // Array to store timestamps in minutes of the temperature peaks to be used by the autotune PI function
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uint16_t time_std_dev_peak_det_ok = THERMOSTAT_TIME_STD_DEV_PEAK_DET_OK; // Standard deviation in minutes of the oscillation periods within the peak detection is successful
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#endif // USE_PI_AUTOTUNING
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} Thermostat[THERMOSTAT_CONTROLLER_OUTPUTS];
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/*********************************************************************************************/
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@ -212,13 +262,17 @@ void ThermostatInit(uint8_t ctr_output)
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Thermostat[ctr_output].status.status_output = IFACE_OFF;
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Thermostat[ctr_output].status.phase_hybrid_ctr = CTR_HYBRID_PI;
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Thermostat[ctr_output].status.status_cycle_active = CYCLE_OFF;
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Thermostat[ctr_output].status.state_emergency = EMERGENCY_OFF;
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Thermostat[ctr_output].diag.state_emergency = EMERGENCY_OFF;
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Thermostat[ctr_output].status.counter_seconds = 0;
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Thermostat[ctr_output].status.output_relay_number = (THERMOSTAT_RELAY_NUMBER + ctr_output);
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Thermostat[ctr_output].status.input_switch_number = (THERMOSTAT_SWITCH_NUMBER + ctr_output);
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Thermostat[ctr_output].status.use_input = INPUT_NOT_USED;
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Thermostat[ctr_output].status.output_inconsist_ctr = 0;
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Thermostat[ctr_output].status.diagnostic_mode = DIAGNOSTIC_ON;
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Thermostat[ctr_output].diag.output_inconsist_ctr = 0;
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Thermostat[ctr_output].diag.diagnostic_mode = DIAGNOSTIC_ON;
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#ifdef USE_PI_AUTOTUNING
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Thermostat[ctr_output].status.autotune_flag = AUTOTUNE_OFF;
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Thermostat[ctr_output].status.autotune_perf_mode = AUTOTUNE_PERF_FAST;
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#endif // USE_PI_AUTOTUNING
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// Make sure the Output is OFF
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ExecuteCommandPower(Thermostat[ctr_output].status.output_relay_number, POWER_OFF, SRC_THERMOSTAT);
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}
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@ -312,10 +366,10 @@ void ThermostatSignalPostProcessingSlow(uint8_t ctr_output)
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{
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// Increate counter when inconsistent output state exists
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if (Thermostat[ctr_output].status.status_output != Thermostat[ctr_output].status.command_output) {
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Thermostat[ctr_output].status.output_inconsist_ctr++;
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Thermostat[ctr_output].diag.output_inconsist_ctr++;
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}
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else {
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Thermostat[ctr_output].status.output_inconsist_ctr = 0;
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Thermostat[ctr_output].diag.output_inconsist_ctr = 0;
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}
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}
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@ -333,6 +387,10 @@ void ThermostatSignalProcessingFast(uint8_t ctr_output)
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void ThermostatCtrState(uint8_t ctr_output)
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{
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#ifdef USE_PI_AUTOTUNING
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bool flag_heating = (Thermostat[ctr_output].status.climate_mode == CLIMATE_HEATING);
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#endif //USE_PI_AUTOTUNING
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switch (Thermostat[ctr_output].status.controller_mode) {
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// Hybrid controller (Ramp-up + PI)
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case CTR_HYBRID:
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@ -340,10 +398,35 @@ void ThermostatCtrState(uint8_t ctr_output)
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break;
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// PI controller
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case CTR_PI:
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#ifdef USE_PI_AUTOTUNING
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// If Autotune has been enabled (via flag)
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// AND we have just reached the setpoint temperature
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// AND the temperature gradient is negative for heating and positive for cooling
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// then switch state to PI autotuning
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if ((Thermostat[ctr_output].status.autotune_flag == AUTOTUNE_ON)
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&&(Thermostat[ctr_output].temp_measured == Thermostat[ctr_output].temp_target_level)
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&& ((flag_heating && (Thermostat[ctr_output].temp_measured_gradient < 0))
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||(!flag_heating && (Thermostat[ctr_output].temp_measured_gradient > 0))))
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{
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Thermostat[ctr_output].status.controller_mode = CTR_PI_AUTOTUNE;
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ThermostatPeakDetectorInit(ctr_output);
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}
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#endif // USE_PI_AUTOTUNING
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break;
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// Ramp-up controller (predictive)
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case CTR_RAMP_UP:
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break;
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#ifdef USE_PI_AUTOTUNING
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// PI autotune
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case CTR_PI_AUTOTUNE:
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// If autotune finalized (flag Off)
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// then go back to the PI controller
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if (Thermostat[ctr_output].status.autotune_flag == AUTOTUNE_OFF)
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{
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Thermostat[ctr_output].status.controller_mode = CTR_PI;
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}
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break;
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#endif //USE_PI_AUTOTUNING
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}
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}
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@ -387,7 +470,32 @@ void ThermostatHybridCtrPhase(uint8_t ctr_output)
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Thermostat[ctr_output].time_ctr_checkpoint = 0;
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Thermostat[ctr_output].status.phase_hybrid_ctr = CTR_HYBRID_RAMP_UP;
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}
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#ifdef USE_PI_AUTOTUNING
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// If Autotune has been enabled (via flag)
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// AND we have just reached the setpoint temperature
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// AND the temperature gradient is negative for heating and positive for cooling
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// then switch state to PI autotuning
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if ((Thermostat[ctr_output].status.autotune_flag == AUTOTUNE_ON)
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&&(Thermostat[ctr_output].temp_measured == Thermostat[ctr_output].temp_target_level)
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&& ((flag_heating && (Thermostat[ctr_output].temp_measured_gradient < 0))
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||(!flag_heating && (Thermostat[ctr_output].temp_measured_gradient > 0))))
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{
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Thermostat[ctr_output].status.phase_hybrid_ctr = CTR_HYBRID_PI_AUTOTUNE;
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ThermostatPeakDetectorInit(ctr_output);
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}
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#endif // USE_PI_AUTOTUNING
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break;
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#ifdef USE_PI_AUTOTUNING
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// PI autotune controller phase
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case CTR_HYBRID_PI_AUTOTUNE:
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// If autotune finalized (flag Off)
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// then go back to the PI controller
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if (Thermostat[ctr_output].status.autotune_flag == AUTOTUNE_OFF)
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{
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Thermostat[ctr_output].status.phase_hybrid_ctr = CTR_HYBRID_PI;
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}
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break;
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#endif // USE_PI_AUTOTUNING
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}
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}
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#ifdef DEBUG_THERMOSTAT
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@ -830,6 +938,202 @@ void ThermostatWorkAutomaticRampUp(uint8_t ctr_output)
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}
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}
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#ifdef USE_PI_AUTOTUNING
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void ThermostatPeakDetectorInit(uint8_t ctr_output)
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{
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for (uint8_t i = 0; i < THERMOSTAT_PEAKNUMBER_AUTOTUNE; i++) {
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Thermostat[ctr_output].temp_peaks_atune[i] = 0;
|
||||
}
|
||||
Thermostat[ctr_output].pU_pi_atune = 0;
|
||||
Thermostat[ctr_output].kP_pi_atune = 0;
|
||||
Thermostat[ctr_output].kI_pi_atune = 0;
|
||||
Thermostat[ctr_output].kU_pi_atune = 0;
|
||||
Thermostat[ctr_output].peak_ctr = 0;
|
||||
Thermostat[ctr_output].temp_abs_max_atune = 0;
|
||||
Thermostat[ctr_output].temp_abs_min_atune = 100;
|
||||
Thermostat[ctr_output].time_ctr_checkpoint = uptime + THERMOSTAT_TIME_MAX_AUTOTUNE;
|
||||
}
|
||||
|
||||
void ThermostatPeakDetector(uint8_t ctr_output)
|
||||
{
|
||||
uint8_t peak_num = Thermostat[ctr_output].peak_ctr;
|
||||
int16_t peak_avg = 0;
|
||||
bool peak_transition = false;
|
||||
// Update Max/Min Thermostat[ctr_output].temp_abs_max_atune
|
||||
if (Thermostat[ctr_output].temp_measured > Thermostat[ctr_output].temp_abs_max_atune) {
|
||||
Thermostat[ctr_output].temp_abs_max_atune = Thermostat[ctr_output].temp_measured;
|
||||
}
|
||||
if (Thermostat[ctr_output].temp_measured < Thermostat[ctr_output].temp_abs_min_atune) {
|
||||
Thermostat[ctr_output].temp_abs_min_atune = Thermostat[ctr_output].temp_measured;
|
||||
}
|
||||
// For heating, even peak numbers look for maxes, odd for minds, the contrary for cooling
|
||||
// If we did not found all peaks yet
|
||||
if (peak_num < THERMOSTAT_PEAKNUMBER_AUTOTUNE) {
|
||||
bool flag_heating = (Thermostat[ctr_output].status.climate_mode == CLIMATE_HEATING);
|
||||
bool cond_peak_1 = ( (Thermostat[ctr_output].temp_measured > Thermostat[ctr_output].temp_peaks_atune[peak_num])
|
||||
&& (flag_heating)
|
||||
|| (Thermostat[ctr_output].temp_measured < Thermostat[ctr_output].temp_peaks_atune[peak_num])
|
||||
&& (!flag_heating));
|
||||
bool cond_peak_2 = ( (Thermostat[ctr_output].temp_measured < Thermostat[ctr_output].temp_peaks_atune[peak_num])
|
||||
&& (flag_heating)
|
||||
|| (Thermostat[ctr_output].temp_measured > Thermostat[ctr_output].temp_peaks_atune[peak_num])
|
||||
&& (!flag_heating));
|
||||
bool cond_gradient_1 = ( (Thermostat[ctr_output].temp_measured_gradient > 0)
|
||||
&& (flag_heating)
|
||||
|| (Thermostat[ctr_output].temp_measured_gradient < 0)
|
||||
&& (!flag_heating));
|
||||
bool cond_gradient_2 = ( (Thermostat[ctr_output].temp_measured_gradient < 0)
|
||||
&& (flag_heating)
|
||||
|| (Thermostat[ctr_output].temp_measured_gradient > 0)
|
||||
&& (!flag_heating));
|
||||
// If peak number is even (look for max if heating and min if cooling)
|
||||
if ((peak_num % 2) == 0) {
|
||||
// If current temperature higher (heating) or lower (cooling) than registered value for peak
|
||||
// AND temperature gradient > 0 for heating or < 0 for cooling
|
||||
// then, update value
|
||||
if (cond_peak_1 && cond_gradient_1) {
|
||||
Thermostat[ctr_output].temp_peaks_atune[peak_num] = Thermostat[ctr_output].temp_measured;
|
||||
}
|
||||
// Else if current temperature lower (heating) or higher (cooling) then registered value for peak
|
||||
// AND difference to peak is outside of the peak no detection band
|
||||
// then the current peak value is the peak (max for heating, min for cooling), switch detection
|
||||
if ( (cond_peak_2)
|
||||
&& (abs(Thermostat[ctr_output].temp_measured - Thermostat[ctr_output].temp_peaks_atune[peak_num]) > Thermostat[ctr_output].temp_band_no_peak_det)) {
|
||||
// Register peak timestamp;
|
||||
Thermostat[ctr_output].time_peak_timestamps_atune[peak_num] = (uptime / 60);
|
||||
Thermostat[ctr_output].peak_ctr++;
|
||||
peak_transition = true;
|
||||
}
|
||||
}
|
||||
// Peak number is odd (look for min if heating and max if cooling)
|
||||
else {
|
||||
// If current temperature lower (heating) or higher (cooling) than registered value for peak
|
||||
// AND temperature gradient < 0 for heating or > 0 for cooling
|
||||
// then, update value
|
||||
if (cond_peak_2 && cond_gradient_2) {
|
||||
Thermostat[ctr_output].temp_peaks_atune[peak_num] = Thermostat[ctr_output].temp_measured;
|
||||
}
|
||||
// Else if current temperature higher (heating) or lower (cooling) then registered value for peak
|
||||
// AND difference to peak is outside of the peak no detection band
|
||||
// then the current peak value is the peak (min for heating, max for cooling), switch detection
|
||||
if ( (cond_peak_1)
|
||||
&& (abs(Thermostat[ctr_output].temp_measured - Thermostat[ctr_output].temp_peaks_atune[peak_num]) > Thermostat[ctr_output].temp_band_no_peak_det)) {
|
||||
// Calculate period
|
||||
// Register peak timestamp;
|
||||
Thermostat[ctr_output].time_peak_timestamps_atune[peak_num] = (uptime / 60);
|
||||
Thermostat[ctr_output].peak_ctr++;
|
||||
peak_transition = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
// Peak detection done, proceed to evaluate results
|
||||
ThermostatAutotuneParamCalc(ctr_output);
|
||||
}
|
||||
|
||||
// If peak detection not finalized but bigger than 3 and we have just found a peak, check if results can be extracted
|
||||
if ((Thermostat[ctr_output].peak_ctr > 2) && (peak_transition)) {
|
||||
//Update peak_num
|
||||
peak_num = Thermostat[ctr_output].peak_ctr;
|
||||
// Calculate average value among the last 3 peaks
|
||||
peak_avg = (abs(Thermostat[ctr_output].temp_peaks_atune[peak_num - 1]
|
||||
- Thermostat[ctr_output].temp_peaks_atune[peak_num - 2])
|
||||
+ abs(Thermostat[ctr_output].temp_peaks_atune[peak_num - 2]
|
||||
- Thermostat[ctr_output].temp_peaks_atune[peak_num - 3])) / 2;
|
||||
|
||||
if ((20 * (int32_t)peak_avg) < (int32_t)(Thermostat[ctr_output].temp_abs_max_atune - Thermostat[ctr_output].temp_abs_min_atune)) {
|
||||
// Calculate average temperature among all peaks
|
||||
for (uint8_t i = 0; i < peak_num; i++) {
|
||||
peak_avg += Thermostat[ctr_output].temp_peaks_atune[i];
|
||||
}
|
||||
peak_avg /= peak_num;
|
||||
// If last period crosses the average value, result valid
|
||||
if (10 * abs(Thermostat[ctr_output].temp_peaks_atune[peak_num - 1] - Thermostat[ctr_output].temp_peaks_atune[peak_num - 2]) < (Thermostat[ctr_output].temp_abs_max_atune - peak_avg)) {
|
||||
// Peak detection done, proceed to evaluate results
|
||||
ThermostatAutotuneParamCalc(ctr_output);
|
||||
}
|
||||
}
|
||||
}
|
||||
peak_transition = false;
|
||||
}
|
||||
|
||||
void ThermostatAutotuneParamCalc(uint8_t ctr_output)
|
||||
{
|
||||
uint8_t peak_num = Thermostat[ctr_output].peak_ctr;
|
||||
|
||||
// Calculate the tunning parameters
|
||||
// Resolution increased to avoid float operations
|
||||
Thermostat[ctr_output].kU_pi_atune = (uint16_t)(100 * ((uint32_t)400000 * (uint32_t)(Thermostat[ctr_output].dutycycle_step_autotune)) / ((uint32_t)(Thermostat[ctr_output].temp_abs_max_atune - Thermostat[ctr_output].temp_abs_min_atune) * (uint32_t)314159));
|
||||
Thermostat[ctr_output].pU_pi_atune = (Thermostat[ctr_output].time_peak_timestamps_atune[peak_num - 1] - Thermostat[ctr_output].time_peak_timestamps_atune[peak_num - 2]);
|
||||
|
||||
switch (Thermostat[ctr_output].status.autotune_perf_mode) {
|
||||
case AUTOTUNE_PERF_FAST:
|
||||
// Calculate kP/Ki autotune
|
||||
Thermostat[ctr_output].kP_pi_atune = (4 * Thermostat[ctr_output].kU_pi_atune) / 10;
|
||||
break;
|
||||
case AUTOTUNE_PERF_NORMAL:
|
||||
// Calculate kP/Ki autotune
|
||||
Thermostat[ctr_output].kP_pi_atune = (18 * Thermostat[ctr_output].kU_pi_atune) / 100;
|
||||
break;
|
||||
case AUTOTUNE_PERF_SLOW:
|
||||
// Calculate kP/Ki autotune
|
||||
Thermostat[ctr_output].kP_pi_atune = (13 * Thermostat[ctr_output].kU_pi_atune) / 100;
|
||||
break;
|
||||
}
|
||||
|
||||
// Resolution increased to avoid float operations
|
||||
Thermostat[ctr_output].kI_pi_atune = (12 * (6000 * Thermostat[ctr_output].kU_pi_atune / Thermostat[ctr_output].pU_pi_atune)) / 10;
|
||||
|
||||
// Calculate PropBand Autotune
|
||||
Thermostat[ctr_output].val_prop_band_atune = 100 / Thermostat[ctr_output].kP_pi_atune;
|
||||
// Calculate Reset Time Autotune
|
||||
Thermostat[ctr_output].time_reset_atune = (uint32_t)((((uint32_t)Thermostat[ctr_output].kP_pi_atune * (uint32_t)Thermostat[ctr_output].time_pi_cycle * 6000)) / (uint32_t)Thermostat[ctr_output].kI_pi_atune);
|
||||
}
|
||||
|
||||
void ThermostatWorkAutomaticPIAutotune(uint8_t ctr_output)
|
||||
{
|
||||
bool flag_heating = (Thermostat[ctr_output].status.climate_mode == CLIMATE_HEATING);
|
||||
// If no timeout of the PI Autotune function
|
||||
if (uptime < Thermostat[ctr_output].time_ctr_checkpoint) {
|
||||
if (uptime >= Thermostat[ctr_output].time_ctr_checkpoint) {
|
||||
Thermostat[ctr_output].temp_target_level_ctr = Thermostat[ctr_output].temp_target_level;
|
||||
// Calculate time_ctr_changepoint
|
||||
Thermostat[ctr_output].time_ctr_changepoint = uptime + (((uint32_t)Thermostat[ctr_output].time_pi_cycle * (uint32_t)Thermostat[ctr_output].dutycycle_step_autotune) / (uint32_t)100);
|
||||
// Reset cycle active
|
||||
Thermostat[ctr_output].status.status_cycle_active = CYCLE_OFF;
|
||||
}
|
||||
// Set Output On/Off depending on the changepoint
|
||||
if (uptime < Thermostat[ctr_output].time_ctr_changepoint) {
|
||||
Thermostat[ctr_output].status.status_cycle_active = CYCLE_ON;
|
||||
Thermostat[ctr_output].status.command_output = IFACE_ON;
|
||||
}
|
||||
else {
|
||||
Thermostat[ctr_output].status.command_output = IFACE_OFF;
|
||||
}
|
||||
// Update peak values
|
||||
ThermostatPeakDetector(ctr_output);
|
||||
}
|
||||
else {
|
||||
// Disable Autotune flag
|
||||
Thermostat[ctr_output].status.autotune_flag = AUTOTUNE_OFF;
|
||||
}
|
||||
|
||||
if (Thermostat[ctr_output].status.autotune_flag == AUTOTUNE_OFF) {
|
||||
// Set output Off
|
||||
Thermostat[ctr_output].status.command_output = IFACE_OFF;
|
||||
}
|
||||
|
||||
// Evaluate if kU, pU can be calculated
|
||||
|
||||
// Output conditions:
|
||||
// If Thermostat[ctr_output].temp_target_level_ctr != Thermostat[ctr_output].temp_target_level -> Disable Autotune Flag
|
||||
// If timeout (check which existing variable to use) -> Disable Autotune flag
|
||||
// If calculation of Kp_autotune & Ki_autotune done -> Disable Autotune flag
|
||||
// Before starting call ThermostatPeakDetectorInit()
|
||||
}
|
||||
#endif //USE_PI_AUTOTUNING
|
||||
|
||||
void ThermostatCtrWork(uint8_t ctr_output)
|
||||
{
|
||||
switch (Thermostat[ctr_output].status.controller_mode) {
|
||||
|
|
@ -842,6 +1146,12 @@ void ThermostatCtrWork(uint8_t ctr_output)
|
|||
case CTR_HYBRID_PI:
|
||||
ThermostatWorkAutomaticPI(ctr_output);
|
||||
break;
|
||||
#ifdef USE_PI_AUTOTUNING
|
||||
// PI autotune
|
||||
case CTR_HYBRID_PI_AUTOTUNE:
|
||||
ThermostatWorkAutomaticPIAutotune(ctr_output);
|
||||
break;
|
||||
#endif //USE_PI_AUTOTUNING
|
||||
}
|
||||
break;
|
||||
// PI controller
|
||||
|
|
@ -852,6 +1162,12 @@ void ThermostatCtrWork(uint8_t ctr_output)
|
|||
case CTR_RAMP_UP:
|
||||
ThermostatWorkAutomaticRampUp(ctr_output);
|
||||
break;
|
||||
#ifdef USE_PI_AUTOTUNING
|
||||
// PI autotune
|
||||
case CTR_PI_AUTOTUNE:
|
||||
ThermostatWorkAutomaticPIAutotune(ctr_output);
|
||||
break;
|
||||
#endif //USE_PI_AUTOTUNING
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -879,17 +1195,17 @@ void ThermostatWork(uint8_t ctr_output)
|
|||
void ThermostatDiagnostics(uint8_t ctr_output)
|
||||
{
|
||||
// Diagnostic related to the plausibility of the output state
|
||||
if ((Thermostat[ctr_output].status.diagnostic_mode == DIAGNOSTIC_ON)
|
||||
&&(Thermostat[ctr_output].status.output_inconsist_ctr >= THERMOSTAT_TIME_MAX_OUTPUT_INCONSIST)) {
|
||||
if ((Thermostat[ctr_output].diag.diagnostic_mode == DIAGNOSTIC_ON)
|
||||
&&(Thermostat[ctr_output].diag.output_inconsist_ctr >= THERMOSTAT_TIME_MAX_OUTPUT_INCONSIST)) {
|
||||
Thermostat[ctr_output].status.thermostat_mode = THERMOSTAT_OFF;
|
||||
Thermostat[ctr_output].status.state_emergency = EMERGENCY_ON;
|
||||
Thermostat[ctr_output].diag.state_emergency = EMERGENCY_ON;
|
||||
}
|
||||
|
||||
// Diagnostic related to the plausibility of the output power implemented
|
||||
// already into the energy driver
|
||||
|
||||
// If diagnostics fail, emergency enabled and thermostat shutdown triggered
|
||||
if (Thermostat[ctr_output].status.state_emergency == EMERGENCY_ON) {
|
||||
if (Thermostat[ctr_output].diag.state_emergency == EMERGENCY_ON) {
|
||||
ThermostatEmergencyShutdown(ctr_output);
|
||||
}
|
||||
}
|
||||
|
|
@ -947,10 +1263,10 @@ void ThermostatDebug(uint8_t ctr_output)
|
|||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("Thermostat[ctr_output].status.counter_seconds: %s"), result_chr);
|
||||
dtostrfd(Thermostat[ctr_output].status.thermostat_mode, 0, result_chr);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("Thermostat[ctr_output].status.thermostat_mode: %s"), result_chr);
|
||||
dtostrfd(Thermostat[ctr_output].status.state_emergency, 0, result_chr);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("Thermostat[ctr_output].status.state_emergency: %s"), result_chr);
|
||||
dtostrfd(Thermostat[ctr_output].status.output_inconsist_ctr, 0, result_chr);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("Thermostat[ctr_output].status.output_inconsist_ctr: %s"), result_chr);
|
||||
dtostrfd(Thermostat[ctr_output].diag.state_emergency, 0, result_chr);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("Thermostat[ctr_output].diag.state_emergency: %s"), result_chr);
|
||||
dtostrfd(Thermostat[ctr_output].diag.output_inconsist_ctr, 0, result_chr);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("Thermostat[ctr_output].diag.output_inconsist_ctr: %s"), result_chr);
|
||||
dtostrfd(Thermostat[ctr_output].status.controller_mode, 0, result_chr);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("Thermostat[ctr_output].status.controller_mode: %s"), result_chr);
|
||||
dtostrfd(Thermostat[ctr_output].status.command_output, 0, result_chr);
|
||||
|
|
@ -1049,6 +1365,8 @@ void CmndClimateModeSet(void)
|
|||
uint8_t value = (uint8_t)(CharToFloat(XdrvMailbox.data));
|
||||
if ((value >= CLIMATE_HEATING) && (value < CLIMATE_MODES_MAX)) {
|
||||
Thermostat[ctr_output].status.climate_mode = value;
|
||||
// Trigger a restart of the controller
|
||||
Thermostat[ctr_output].time_ctr_checkpoint = uptime;
|
||||
}
|
||||
}
|
||||
ResponseCmndNumber((int)Thermostat[ctr_output].status.climate_mode);
|
||||
|
|
@ -1090,6 +1408,14 @@ void CmndControllerModeSet(void)
|
|||
uint8_t value = (uint8_t)(XdrvMailbox.payload);
|
||||
if ((value >= CTR_HYBRID) && (value < CTR_MODES_MAX)) {
|
||||
Thermostat[ctr_output].status.controller_mode = value;
|
||||
// Reset controller variables
|
||||
Thermostat[ctr_output].timestamp_rampup_start = uptime;
|
||||
Thermostat[ctr_output].temp_rampup_start = Thermostat[ctr_output].temp_measured;
|
||||
Thermostat[ctr_output].temp_rampup_meas_gradient = 0;
|
||||
Thermostat[ctr_output].time_rampup_deadtime = 0;
|
||||
Thermostat[ctr_output].counter_rampup_cycles = 1;
|
||||
Thermostat[ctr_output].time_ctr_changepoint = 0;
|
||||
Thermostat[ctr_output].time_ctr_checkpoint = 0;
|
||||
}
|
||||
}
|
||||
ResponseCmndNumber((int)Thermostat[ctr_output].status.controller_mode);
|
||||
|
|
@ -1156,11 +1482,11 @@ void CmndTimeAllowRampupSet(void)
|
|||
uint8_t ctr_output = XdrvMailbox.index - 1;
|
||||
if (XdrvMailbox.data_len > 0) {
|
||||
uint32_t value = (uint32_t)(XdrvMailbox.payload);
|
||||
if ((value >= 0) && (value < 86400)) {
|
||||
Thermostat[ctr_output].time_allow_rampup = (uint16_t)(value / 60);
|
||||
if ((value >= 0) && (value < 1440)) {
|
||||
Thermostat[ctr_output].time_allow_rampup = (uint16_t)value;
|
||||
}
|
||||
}
|
||||
ResponseCmndNumber((int)((uint32_t)Thermostat[ctr_output].time_allow_rampup * 60));
|
||||
ResponseCmndNumber((int)((uint32_t)Thermostat[ctr_output].time_allow_rampup));
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1266,10 +1592,10 @@ void CmndStateEmergencySet(void)
|
|||
if (XdrvMailbox.data_len > 0) {
|
||||
uint8_t value = (uint8_t)(XdrvMailbox.payload);
|
||||
if ((value >= 0) && (value <= 1)) {
|
||||
Thermostat[ctr_output].status.state_emergency = (uint16_t)value;
|
||||
Thermostat[ctr_output].diag.state_emergency = (uint16_t)value;
|
||||
}
|
||||
}
|
||||
ResponseCmndNumber((int)Thermostat[ctr_output].status.state_emergency);
|
||||
ResponseCmndNumber((int)Thermostat[ctr_output].diag.state_emergency);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1399,6 +1725,22 @@ void CmndTempHystSet(void)
|
|||
}
|
||||
}
|
||||
|
||||
#ifdef USE_PI_AUTOTUNING
|
||||
void CmndPerfLevelAutotune(void)
|
||||
{
|
||||
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= THERMOSTAT_CONTROLLER_OUTPUTS)) {
|
||||
uint8_t ctr_output = XdrvMailbox.index - 1;
|
||||
if (XdrvMailbox.data_len > 0) {
|
||||
uint8_t value = (uint8_t)(XdrvMailbox.payload);
|
||||
if ((value >= 0) && (value <= AUTOTUNE_PERF_MAX)) {
|
||||
Thermostat[ctr_output].status.autotune_perf_mode = value;
|
||||
}
|
||||
}
|
||||
ResponseCmndNumber((int)Thermostat[ctr_output].status.autotune_perf_mode);
|
||||
}
|
||||
}
|
||||
#endif // USE_PI_AUTOTUNING
|
||||
|
||||
void CmndTimeMaxActionSet(void)
|
||||
{
|
||||
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= THERMOSTAT_CONTROLLER_OUTPUTS)) {
|
||||
|
|
@ -1571,10 +1913,10 @@ void CmndDiagnosticModeSet(void)
|
|||
if (XdrvMailbox.data_len > 0) {
|
||||
uint8_t value = (uint8_t)(CharToFloat(XdrvMailbox.data));
|
||||
if ((value >= DIAGNOSTIC_OFF) && (value <= DIAGNOSTIC_ON)) {
|
||||
Thermostat[ctr_output].status.diagnostic_mode = value;
|
||||
Thermostat[ctr_output].diag.diagnostic_mode = value;
|
||||
}
|
||||
}
|
||||
ResponseCmndNumber((int)Thermostat[ctr_output].status.diagnostic_mode);
|
||||
ResponseCmndNumber((int)Thermostat[ctr_output].diag.diagnostic_mode);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue