diff options
Diffstat (limited to 'klippy/heater.py')
| -rw-r--r-- | klippy/heater.py | 139 |
1 files changed, 9 insertions, 130 deletions
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( |