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@ -469,12 +469,23 @@ temp_range_t Temperature::temp_range[HOTENDS] = ARRAY_BY_HOTENDS(sensor_heater_0
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Tu = float(t_low + t_high) * 0.001f,
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pf = isbed ? 0.2f : 0.6f,
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df = isbed ? 1.0f / 3.0f : 1.0f / 8.0f;
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tune_pid.Kp = Ku * pf;
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tune_pid.Kd = tune_pid.Kp * Tu * df;
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tune_pid.Ki = 2 * tune_pid.Kp / Tu;
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SERIAL_ECHOPAIR(MSG_KU, Ku, MSG_TU, Tu);
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SERIAL_ECHOLNPGM("\n" MSG_CLASSIC_PID);
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SERIAL_ECHOLNPAIR(MSG_KP, tune_pid.Kp, MSG_KI, tune_pid.Ki, MSG_KD, tune_pid.Kd);
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if (isbed) { // Do not remove this otherwise PID autotune won't work right for the bed!
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tune_pid.Kp = Ku * 0.2f;
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tune_pid.Ki = 2 * tune_pid.Kp / Tu;
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tune_pid.Kd = tune_pid.Kp * Tu / 3;
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SERIAL_ECHOLNPGM("\n" " No overshoot"); // Works far better for the bed. Classic and some have bad ringing.
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SERIAL_ECHOLNPAIR(MSG_KP, tune_pid.Kp, MSG_KI, tune_pid.Ki, MSG_KD, tune_pid.Kd);
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}
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else {
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tune_pid.Kp = Ku * pf;
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tune_pid.Kd = tune_pid.Kp * Tu * df;
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tune_pid.Ki = 2 * tune_pid.Kp / Tu;
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SERIAL_ECHOLNPGM("\n" MSG_CLASSIC_PID);
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SERIAL_ECHOLNPAIR(MSG_KP, tune_pid.Kp, MSG_KI, tune_pid.Ki, MSG_KD, tune_pid.Kd);
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}
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/**
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tune_pid.Kp = 0.33 * Ku;
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tune_pid.Ki = tune_pid.Kp / Tu;
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@ -850,12 +861,12 @@ float Temperature::get_pid_output_hotend(const uint8_t e) {
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}
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work_pid[ee].Kd = work_pid[ee].Kd + PID_K2 * (PID_PARAM(Kd, ee) * (temp_dState[ee] - temp_hotend[ee].current) - work_pid[ee].Kd);
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const float max_power_over_i_gain = (float)PID_MAX / PID_PARAM(Ki, ee);
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const float max_power_over_i_gain = float(PID_MAX) / PID_PARAM(Ki, ee) - float(MIN_POWER);
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temp_iState[ee] = constrain(temp_iState[ee] + pid_error, 0, max_power_over_i_gain);
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work_pid[ee].Kp = PID_PARAM(Kp, ee) * pid_error;
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work_pid[ee].Ki = PID_PARAM(Ki, ee) * temp_iState[ee];
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pid_output = work_pid[ee].Kp + work_pid[ee].Ki + work_pid[ee].Kd;
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pid_output = work_pid[ee].Kp + work_pid[ee].Ki + work_pid[ee].Kd + float(MIN_POWER);
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#if ENABLED(PID_EXTRUSION_SCALING)
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work_pid[ee].Kc = 0;
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@ -885,23 +896,25 @@ float Temperature::get_pid_output_hotend(const uint8_t e) {
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#endif // PID_OPENLOOP
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#if ENABLED(PID_DEBUG)
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SERIAL_ECHO_START();
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SERIAL_ECHOPAIR(
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MSG_PID_DEBUG, ee,
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MSG_PID_DEBUG_INPUT, temp_hotend[ee].current,
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MSG_PID_DEBUG_OUTPUT, pid_output
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);
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#if DISABLED(PID_OPENLOOP)
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if (e == active_extruder) {
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SERIAL_ECHO_START();
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SERIAL_ECHOPAIR(
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MSG_PID_DEBUG_PTERM, work_pid[ee].Kp,
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MSG_PID_DEBUG_ITERM, work_pid[ee].Ki,
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MSG_PID_DEBUG_DTERM, work_pid[ee].Kd
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#if ENABLED(PID_EXTRUSION_SCALING)
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, MSG_PID_DEBUG_CTERM, work_pid[ee].Kc
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#endif
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MSG_PID_DEBUG, ee,
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MSG_PID_DEBUG_INPUT, temp_hotend[ee].current,
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MSG_PID_DEBUG_OUTPUT, pid_output
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);
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#endif
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SERIAL_EOL();
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#if DISABLED(PID_OPENLOOP)
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SERIAL_ECHOPAIR(
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MSG_PID_DEBUG_PTERM, work_pid[ee].Kp,
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MSG_PID_DEBUG_ITERM, work_pid[ee].Ki,
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MSG_PID_DEBUG_DTERM, work_pid[ee].Kd
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#if ENABLED(PID_EXTRUSION_SCALING)
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, MSG_PID_DEBUG_CTERM, work_pid[ee].Kc
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#endif
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);
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#endif
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SERIAL_EOL();
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}
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#endif // PID_DEBUG
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#else // No PID enabled
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@ -927,19 +940,36 @@ float Temperature::get_pid_output_hotend(const uint8_t e) {
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static PID_t work_pid = { 0 };
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static float temp_iState = 0, temp_dState = 0;
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const float max_power_over_i_gain = (float)MAX_BED_POWER / temp_bed.pid.Ki,
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static bool pid_reset = true;
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float pid_output = 0;
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const float max_power_over_i_gain = float(MAX_BED_POWER) / temp_bed.pid.Ki - float(MIN_BED_POWER),
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pid_error = temp_bed.target - temp_bed.current;
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temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain);
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if (!temp_bed.target || pid_error < -(PID_FUNCTIONAL_RANGE)) {
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pid_output = 0;
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pid_reset = true;
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}
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else if (pid_error > PID_FUNCTIONAL_RANGE) {
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pid_output = BANG_MAX;
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pid_reset = true;
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}
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else {
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if (pid_reset) {
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temp_iState = 0.0;
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work_pid.Kd = 0.0;
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pid_reset = false;
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}
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work_pid.Kp = temp_bed.pid.Kp * pid_error;
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work_pid.Ki = temp_bed.pid.Ki * temp_iState;
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work_pid.Kd = work_pid.Kd + PID_K2 * (temp_bed.pid.Kd * (temp_dState - temp_bed.current) - work_pid.Kd);
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temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain);
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temp_dState = temp_bed.current;
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work_pid.Kp = temp_bed.pid.Kp * pid_error;
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work_pid.Ki = temp_bed.pid.Ki * temp_iState;
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work_pid.Kd = work_pid.Kd + PID_K2 * (temp_bed.pid.Kd * (temp_dState - temp_bed.current) - work_pid.Kd);
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const float pid_output = constrain(work_pid.Kp + work_pid.Ki + work_pid.Kd, 0, MAX_BED_POWER);
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temp_dState = temp_bed.current;
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pid_output = constrain(work_pid.Kp + work_pid.Ki + work_pid.Kd + float(MIN_BED_POWER), 0, MAX_BED_POWER);
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}
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#else // PID_OPENLOOP
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mikeshub
5 years ago
committed by