diff options
| author | kliment <kliment.yanev@gmail.com> | 2011-10-27 15:45:34 -0700 |
|---|---|---|
| committer | kliment <kliment.yanev@gmail.com> | 2011-10-27 15:45:34 -0700 |
| commit | d1fe94db18946b707697c0409d06f33209f0effb (patch) | |
| tree | 7882df219f26741e1824f644069fddd467a8b0de | |
| parent | 02f659a09c0b850616d7fc447461261a82970458 (diff) | |
| parent | 7906660f77a988af2b8b3bbb245c42d1eb3ceb36 (diff) | |
Merge pull request #107 from k-eex/PID
Better default PID parameters
| -rw-r--r-- | Sprinter/Configuration.h | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index 71e0b08..df52a08 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -123,11 +123,11 @@ char uuid[] = "00000000-0000-0000-0000-000000000000"; //#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 -#define PID_IGAIN 64 //256 is 1.0 // value of 0.25 means that each degree error over 1 sec (2 measurements) changes duty cycle by 0.5 units (verify?) -#define PID_DGAIN 2048 //256 is 1.0 // value of 8.0 means that each degree change over one measurement (half second) adjusts PWM by 8 units to compensate -// 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) +#define PID_PGAIN 2560 //256 is 1.0 // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25 +#define PID_IGAIN 64 //256 is 1.0 // value of X (e.g 0.25) means that each degree error over 1 sec (2 measurements) changes duty cycle by 2X (=0.5) units (verify?) +#define PID_DGAIN 4096 //256 is 1.0 // value of X means that around reached setpoint, each degree change over one measurement (half second) adjusts PWM by X units to compensate +// magic formula 1, to get approximate "zero error" PWM duty. Take few measurements with low PWM duty and make linear fit to get the formula +#define HEATER_DUTY_FOR_SETPOINT(setpoint) ((int)((187L*(long)setpoint)>>8)-27) // for my makergear hot-end: linear fit {50,10},{60,20},{80,30},{105,50},{176,100},{128,64},{208,128} // magic formula 2, to make led brightness approximately linear #define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness)) #endif |