diff options
| -rw-r--r-- | config/printer-wanhao-duplicator-i3-v2.1-2017.cfg | 6 | ||||
| -rw-r--r-- | docs/G-Codes.md | 8 | ||||
| -rw-r--r-- | klippy/extras/pid_calibrate.py | 127 | ||||
| -rw-r--r-- | klippy/gcode.py | 14 | ||||
| -rw-r--r-- | klippy/heater.py | 139 |
5 files changed, 147 insertions, 147 deletions
diff --git a/config/printer-wanhao-duplicator-i3-v2.1-2017.cfg b/config/printer-wanhao-duplicator-i3-v2.1-2017.cfg index d1495afb..d7dd3738 100644 --- a/config/printer-wanhao-duplicator-i3-v2.1-2017.cfg +++ b/config/printer-wanhao-duplicator-i3-v2.1-2017.cfg @@ -45,11 +45,11 @@ # PID values from stock Wanhao firmware (Repetier) do not # translate directly to klipper. You will need to run klipper's # PID autotune function for the extruder and bed. After getting the -# klipper firmware up and running, run the M303 autotune procedures +# klipper firmware up and running, run the PID_CALIBRATE procedures # by sending these commands via octoprint terminal (one per autotune): # -# extruder: M303 E0 S<temp> -# heated bed: M303 E-1 S<temp> +# extruder: PID_CALIBRATE HEATER=extruder TARGET=<temp> +# heated bed: PID_CALIBRATE HEATER=heater_bed TARGET=<temp> # # After the autotune process completes, PID parameter results # can be found in the Octoprint terminal tab (if you're quick) diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 73fd2e93..25ff7550 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -26,7 +26,6 @@ Klipper supports the following standard G-Code commands: - Get current position: `M114` - Get firmware version: `M115` - Set home offset: `M206 [X<pos>] [Y<pos>] [Z<pos>]` -- Run PID tuning: `M303 [E<index>] S<temperature>` For further details on the above commands see the [RepRap G-Code documentation](http://reprap.org/wiki/G-code). @@ -65,6 +64,13 @@ The following standard commands are supported: verify that an endstop is working correctly. - `GET_POSITION`: Return information on the current location of the toolhead. +- `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature> + [WRITE_FILE=1]`: Perform a PID calibration test. The specified + heater will be enabled until the specified target temperature is + reached, and then the heater will be turned off and on for several + cycles. If the WRITE_FILE parameter is enabled, then the file + /tmp/heattest.txt will be created with a log of all temperature + samples taken during the test. - `RESTART`: This will cause the host software to reload its config and perform an internal reset. This command will not clear error state from the micro-controller (see FIRMWARE_RESTART) nor will it diff --git a/klippy/extras/pid_calibrate.py b/klippy/extras/pid_calibrate.py new file mode 100644 index 00000000..477f3a93 --- /dev/null +++ b/klippy/extras/pid_calibrate.py @@ -0,0 +1,127 @@ +# Calibration of heater PID settings +# +# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import math, logging +import extruder, heater + +class PIDCalibrate: + def __init__(self, config): + self.printer = config.get_printer() + self.gcode = self.printer.lookup_object('gcode') + self.gcode.register_command( + 'PID_CALIBRATE', self.cmd_PID_CALIBRATE, + desc=self.cmd_PID_CALIBRATE_help) + cmd_PID_CALIBRATE_help = "Run PID calibration test" + def cmd_PID_CALIBRATE(self, params): + heater_name = self.gcode.get_str('HEATER', params) + target = self.gcode.get_float('TARGET', params) + write_file = self.gcode.get_int('WRITE_FILE', params, 0) + try: + heater = extruder.get_printer_heater(self.printer, heater_name) + except self.printer.config_error as e: + raise self.gcode.error(str(e)) + print_time = self.printer.lookup_object('toolhead').get_last_move_time() + calibrate = ControlAutoTune(heater) + old_control = heater.set_control(calibrate) + try: + heater.set_temp(print_time, target) + except heater.error as e: + raise self.gcode.error(str(e)) + self.gcode.bg_temp(heater) + heater.set_control(old_control) + if write_file: + calibrate.write_file('/tmp/heattest.txt') + Kp, Ki, Kd = calibrate.calc_final_pid() + logging.info("Autotune: final: Kp=%f Ki=%f Kd=%f", Kp, Ki, Kd) + self.gcode.respond_info( + "PID parameters: pid_Kp=%.3f pid_Ki=%.3f pid_Kd=%.3f\n" + "To use these parameters, update the printer config file with\n" + "the above and then issue a RESTART command" % (Kp, Ki, Kd)) + +TUNE_PID_DELTA = 5.0 + +class ControlAutoTune: + def __init__(self, heater): + self.heater = heater + # Heating control + self.heating = False + self.peak = 0. + self.peak_time = 0. + # Peak recording + self.peaks = [] + # Sample recording + self.last_pwm = 0. + self.pwm_samples = [] + self.temp_samples = [] + # Heater control + def set_pwm(self, read_time, value): + if value != self.last_pwm: + self.pwm_samples.append((read_time + heater.PWM_DELAY, value)) + self.last_pwm = value + self.heater.set_pwm(read_time, value) + def adc_callback(self, read_time, temp): + self.temp_samples.append((read_time, temp)) + if self.heating and temp >= self.heater.target_temp: + self.heating = False + self.check_peaks() + elif (not self.heating + and temp <= self.heater.target_temp - TUNE_PID_DELTA): + self.heating = True + self.check_peaks() + if self.heating: + self.set_pwm(read_time, self.heater.max_power) + if temp < self.peak: + self.peak = temp + self.peak_time = read_time + else: + self.set_pwm(read_time, 0.) + if temp > self.peak: + self.peak = temp + self.peak_time = read_time + def check_busy(self, eventtime): + if self.heating or len(self.peaks) < 12: + return True + return False + # Analysis + def check_peaks(self): + self.peaks.append((self.peak, self.peak_time)) + if self.heating: + self.peak = 9999999. + else: + self.peak = -9999999. + if len(self.peaks) < 4: + return + self.calc_pid(len(self.peaks)-1) + def calc_pid(self, pos): + temp_diff = self.peaks[pos][0] - self.peaks[pos-1][0] + time_diff = self.peaks[pos][1] - self.peaks[pos-2][1] + max_power = self.heater.max_power + Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi) + Tu = time_diff + + Ti = 0.5 * Tu + Td = 0.125 * Tu + Kp = 0.6 * Ku * heater.PID_PARAM_BASE + Ki = Kp / Ti + Kd = Kp * Td + logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f", + temp_diff, max_power, Ku, Tu, Kp, Ki, Kd) + return Kp, Ki, Kd + def calc_final_pid(self): + cycle_times = [(self.peaks[pos][1] - self.peaks[pos-2][1], pos) + for pos in range(4, len(self.peaks))] + midpoint_pos = sorted(cycle_times)[len(cycle_times)/2][1] + return self.calc_pid(midpoint_pos) + # Offline analysis helper + def write_file(self, filename): + pwm = ["pwm: %.3f %.3f" % (time, value) + for time, value in self.pwm_samples] + out = ["%.3f %.3f" % (time, temp) for time, temp in self.temp_samples] + f = open(filename, "wb") + f.write('\n'.join(pwm + out)) + f.close() + +def load_config(config): + return PIDCalibrate(config) diff --git a/klippy/gcode.py b/klippy/gcode.py index dee03a16..050377f0 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -369,7 +369,7 @@ class GCodeParser: 'G1', 'G4', 'G28', 'M18', 'M400', 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M206', 'M220', 'M221', 'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107', - 'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION', 'PID_TUNE', + 'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION', 'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP'] # G-Code movement commands cmd_G1_aliases = ['G0'] @@ -569,18 +569,6 @@ class GCodeParser: "gcode homing: %s" % ( mcu_pos, stepper_pos, kinematic_pos, toolhead_pos, gcode_pos, origin_pos, homing_pos)) - cmd_PID_TUNE_help = "Run PID Tuning" - cmd_PID_TUNE_aliases = ["M303"] - def cmd_PID_TUNE(self, params): - # Run PID tuning - heater_index = self.get_int('E', params, 0) - if (heater_index < -1 or heater_index >= len(self.heaters) - 1 - or self.heaters[heater_index] is None): - self.respond_error("Heater not configured") - heater = self.heaters[heater_index] - temp = self.get_float('S', params) - heater.start_auto_tune(temp) - self.bg_temp(heater) def request_restart(self, result): if self.is_printer_ready: self.respond_info("Preparing to restart...") diff --git a/klippy/heater.py b/klippy/heater.py index 7d746d22..d8021332 100644 --- a/klippy/heater.py +++ b/klippy/heater.py @@ -98,6 +98,7 @@ REPORT_TIME = 0.300 MAX_HEAT_TIME = 5.0 AMBIENT_TEMP = 25. PID_PARAM_BASE = 255. +PWM_DELAY = REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT class error(Exception): pass @@ -141,8 +142,9 @@ class PrinterHeater: # pwm caching self.next_pwm_time = 0. self.last_pwm_value = 0. - # Load verify_heater module + # Load additional modules printer.try_load_module(config, "verify_heater %s" % (self.name,)) + printer.try_load_module(config, "pid_calibrate") def set_pwm(self, read_time, value): if self.target_temp <= 0.: value = 0. @@ -150,7 +152,7 @@ class PrinterHeater: and abs(value - self.last_pwm_value) < 0.05): # No significant change in value - can suppress update return - pwm_time = read_time + REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT + pwm_time = read_time + PWM_DELAY self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME self.last_pwm_value = value logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])", @@ -181,16 +183,12 @@ class PrinterHeater: def check_busy(self, eventtime): with self.lock: return self.control.check_busy(eventtime) - def start_auto_tune(self, degrees): - if degrees and (degrees < self.min_temp or degrees > self.max_temp): - raise error("Requested temperature (%.1f) out of range (%.1f:%.1f)" - % (degrees, self.min_temp, self.max_temp)) + def set_control(self, control): with self.lock: - self.control = ControlAutoTune(self, self.control) - self.target_temp = degrees - def finish_auto_tune(self, old_control): - self.control = old_control - self.target_temp = 0 + old_control = self.control + self.control = control + self.target_temp = 0. + return old_control def stats(self, eventtime): with self.lock: target_temp = self.target_temp @@ -278,125 +276,6 @@ class ControlPID: return (abs(temp_diff) > PID_SETTLE_DELTA or abs(self.prev_temp_deriv) > PID_SETTLE_SLOPE) - -###################################################################### -# Ziegler-Nichols PID autotuning -###################################################################### - -TUNE_PID_DELTA = 5.0 - -class ControlAutoTune: - def __init__(self, heater, old_control): - self.heater = heater - self.old_control = old_control - self.heating = False - self.peaks = [] - self.peak = 0. - self.peak_time = 0. - def adc_callback(self, read_time, temp): - if self.heating and temp >= self.heater.target_temp: - self.heating = False - self.check_peaks() - elif (not self.heating - and temp <= self.heater.target_temp - TUNE_PID_DELTA): - self.heating = True - self.check_peaks() - if self.heating: - self.heater.set_pwm(read_time, self.heater.max_power) - if temp < self.peak: - self.peak = temp - self.peak_time = read_time - else: - self.heater.set_pwm(read_time, 0.) - if temp > self.peak: - self.peak = temp - self.peak_time = read_time - def check_peaks(self): - self.peaks.append((self.peak, self.peak_time)) - if self.heating: - self.peak = 9999999. - else: - self.peak = -9999999. - if len(self.peaks) < 4: - return - self.calc_pid(len(self.peaks)-1) - def calc_pid(self, pos): - temp_diff = self.peaks[pos][0] - self.peaks[pos-1][0] - time_diff = self.peaks[pos][1] - self.peaks[pos-2][1] - max_power = self.heater.max_power - Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi) - Tu = time_diff - - Ti = 0.5 * Tu - Td = 0.125 * Tu - Kp = 0.6 * Ku * PID_PARAM_BASE - Ki = Kp / Ti - Kd = Kp * Td - logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f", - temp_diff, max_power, Ku, Tu, Kp, Ki, Kd) - return Kp, Ki, Kd - def final_calc(self): - cycle_times = [(self.peaks[pos][1] - self.peaks[pos-2][1], pos) - for pos in range(4, len(self.peaks))] - midpoint_pos = sorted(cycle_times)[len(cycle_times)/2][1] - Kp, Ki, Kd = self.calc_pid(midpoint_pos) - logging.info("Autotune: final: Kp=%f Ki=%f Kd=%f", Kp, Ki, Kd) - gcode = self.heater.printer.lookup_object('gcode') - gcode.respond_info( - "PID parameters: pid_Kp=%.3f pid_Ki=%.3f pid_Kd=%.3f\n" - "To use these parameters, update the printer config file with\n" - "the above and then issue a RESTART command" % (Kp, Ki, Kd)) - def check_busy(self, eventtime): - if self.heating or len(self.peaks) < 12: - return True - self.final_calc() - self.heater.finish_auto_tune(self.old_control) - return False - - -###################################################################### -# Tuning information test -###################################################################### - -class ControlBumpTest: - def __init__(self, heater, old_control): - self.heater = heater - self.old_control = old_control - self.temp_samples = {} - self.pwm_samples = {} - self.state = 0 - def set_pwm(self, read_time, value): - self.pwm_samples[read_time + 2*REPORT_TIME] = value - self.heater.set_pwm(read_time, value) - def adc_callback(self, read_time, temp): - self.temp_samples[read_time] = temp - if not self.state: - self.set_pwm(read_time, 0.) - if len(self.temp_samples) >= 20: - self.state += 1 - elif self.state == 1: - if temp < self.heater.target_temp: - self.set_pwm(read_time, self.heater.max_power) - return - self.set_pwm(read_time, 0.) - self.state += 1 - elif self.state == 2: - self.set_pwm(read_time, 0.) - if temp <= (self.heater.target_temp + AMBIENT_TEMP) / 2.: - self.dump_stats() - self.state += 1 - def dump_stats(self): - out = ["%.3f %.1f %d" % (time, temp, self.pwm_samples.get(time, -1.)) - for time, temp in sorted(self.temp_samples.items())] - f = open("/tmp/heattest.txt", "wb") - f.write('\n'.join(out)) - f.close() - def check_busy(self, eventtime): - if self.state < 3: - return True - self.heater.finish_auto_tune(self.old_control) - return False - def add_printer_objects(printer, config): if config.has_section('heater_bed'): printer.add_object('heater_bed', PrinterHeater( |