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

6
Marlin/Marlin.pde
View file

@ -898,12 +898,16 @@ inline void process_commands()
#ifdef PIDTEMP #ifdef PIDTEMP
case 301: // M301 case 301: // M301
{
if(code_seen('P')) Kp = code_value(); if(code_seen('P')) Kp = code_value();
if(code_seen('I')) Ki = code_value()*PID_dT; if(code_seen('I')) Ki = code_value()*PID_dT;
if(code_seen('D')) Kd = code_value()/PID_dT; if(code_seen('D')) Kd = code_value()/PID_dT;
#ifdef PID_ADD_EXTRUSION_RATE #ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value(); if(code_seen('C')) Kc = code_value();
#endif #endif
updatePID();
SERIAL_PROTOCOL("ok p:"); SERIAL_PROTOCOL("ok p:");
SERIAL_PROTOCOL(Kp); SERIAL_PROTOCOL(Kp);
SERIAL_PROTOCOL(" i:"); SERIAL_PROTOCOL(" i:");
@ -915,7 +919,7 @@ inline void process_commands()
SERIAL_PROTOCOL(Kc*PID_dT); SERIAL_PROTOCOL(Kc*PID_dT);
#endif #endif
SERIAL_PROTOCOLLN(""); SERIAL_PROTOCOLLN("");
}
break; break;
#endif //PIDTEMP #endif //PIDTEMP
case 400: // finish all moves 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 ============================ //=============================functions ============================
//=========================================================================== //===========================================================================
void updatePID()
{
#ifdef PIDTEMP
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
#endif
}
void manage_heater() void manage_heater()
{ {
#ifdef USE_WATCHDOG #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 disable_heater();
void setWatch(); void setWatch();
void updatePID();
#endif #endif