diff options
| author | Keegi <keegi@spamcop.net> | 2011-08-10 16:09:23 +0300 |
|---|---|---|
| committer | Keegi <keegi@spamcop.net> | 2011-09-17 17:45:43 +0300 |
| commit | 116eefa1d78339a705390eb14db9eb4f09a6ae1a (patch) | |
| tree | f697728c48cda16b3bd5384d56cdd53d7a64f33f | |
| parent | c6a228d62ed7f42eb2a019801d9fa4316b45bdb7 (diff) | |
fixed typo, added even more PID improvements (these settings work out of box for my old hotend, but overshoot badly on MG hotend)
| -rw-r--r-- | Sprinter/Configuration.h | 4 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 20 |
2 files changed, 17 insertions, 7 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index df55c7d..e246e65 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -118,7 +118,7 @@ char uuid[] = "00000000-0000-0000-0000-000000000000"; //// PID settings: // Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful. -//#define PIDTEMP +//#define PIDTEMP 1 #ifdef PIDTEMP #define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors #define PID_PGAIN 1280 //256 is 1.0 // value of 5.0 means that error of 20C is changing it almost halfway of the PWM range @@ -127,7 +127,7 @@ char uuid[] = "00000000-0000-0000-0000-000000000000"; // magic formula 1, to get approximate "zero error" PWM duty. It is most likely linear formula #define HEATER_DUTY_FOR_SETPOINT(setpoint) (22+1*setpoint) // magic formula 2, to make led brightness approximately linear -#define LED_PWM_FOR_BRIGTHNESS(brightness) ((64*brightness-1384)/(300-brightness)) +#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness)) #endif // Change this value (range 1-255) to limit the current to the nozzle diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 2f8cac9..7e9b3ba 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1499,12 +1499,22 @@ void manage_heater() int delta_temp = current_temp - prev_temp; prev_temp = current_temp; pTerm = ((long)PID_PGAIN * error) / 256; - temp_iState += error; - temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = ((long)PID_IGAIN * temp_iState) / 256; - dTerm = ((long)PID_DGAIN * delta_temp) / 256; const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT); - heater_duty = H0 + constrain(pTerm + iTerm - dTerm, -H0, HEATER_CURRENT-H0); + heater_duty = H0 + pTerm; + if(error < 20){ + temp_iState += error; + temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); + iTerm = ((long)PID_IGAIN * temp_iState) / 256; + heater_duty += iTerm; + } + int prev_error = abs(target_temp - prev_temp); + int log3 = 1; // discrete logarithm base 3, plus 1 + if(prev_error > 81){ prev_error /= 81; log3 += 4; } + if(prev_error > 9){ prev_error /= 9; log3 += 2; } + if(prev_error > 3){ prev_error /= 3; log3 ++; } + dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3); + heater_duty += dTerm; + heater_duty = constrain(heater_duty, 0, HEATER_CURRENT); analogWrite(HEATER_0_PIN, heater_duty); #if LED_PIN>-1 analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255)); |