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fixed bug with adjusting ki in realtime.

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This commit is contained in:
Bernhard Kubicek 2011-11-13 21:43:26 +01:00
parent 9980ceb4a3
commit c57906b627
4 changed files with 34 additions and 22 deletions
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8
Marlin/Configuration.h
View file

@ -95,11 +95,11 @@
// PID_SWING_AT_CRITIAL is the time for a full period of the oscillations at the critical Gain
// usually further manual tunine is necessary.
#define PID_CRITIAL_GAIN 3000
#define PID_SWING_AT_CRITIAL 45 //seconds
#define PID_CRITIAL_GAIN 50
#define PID_SWING_AT_CRITIAL 47 //seconds
#define PID_PI //no differentail term
//#define PID_PID //normal PID
//#define PID_PI //no differentail term
#define PID_PID //normal PID
#ifdef PID_PID
//PID according to Ziegler-Nichols method

40
Marlin/Marlin.pde
View file

@ -898,24 +898,28 @@ inline void process_commands()
#ifdef PIDTEMP
case 301: // M301
if(code_seen('P')) Kp = code_value();
if(code_seen('I')) Ki = code_value()*PID_dT;
if(code_seen('D')) Kd = code_value()/PID_dT;
#ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value();
#endif
SERIAL_PROTOCOL("ok p:");
SERIAL_PROTOCOL(Kp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(Ki/PID_dT);
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(Kd*PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
SERIAL_PROTOCOL(Kc*PID_dT);
#endif
SERIAL_PROTOCOLLN("");
{
if(code_seen('P')) Kp = code_value();
if(code_seen('I')) Ki = code_value()*PID_dT;
if(code_seen('D')) Kd = code_value()/PID_dT;
#ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value();
#endif
updatePID();
SERIAL_PROTOCOL("ok p:");
SERIAL_PROTOCOL(Kp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(Ki/PID_dT);
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(Kd*PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
SERIAL_PROTOCOL(Kc*PID_dT);
#endif
SERIAL_PROTOCOLLN("");
}
break;
#endif //PIDTEMP
case 400: // finish all moves

7
Marlin/temperature.cpp
View file

@ -111,6 +111,13 @@ static unsigned long previous_millis_heater, previous_millis_bed_heater;
//=============================functions ============================
//===========================================================================
void updatePID()
{
#ifdef PIDTEMP
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
#endif
}
void manage_heater()
{
#ifdef USE_WATCHDOG

1
Marlin/temperature.h
View file

@ -87,6 +87,7 @@ inline bool isCoolingBed() {return target_raw[TEMPSENSOR_BED] < current_raw[TEMP
void disable_heater();
void setWatch();
void updatePID();
#endif