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https://github.com/Klipper3d/klipper.git
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pid_calibrate: Move PID calibration logic from heater.py to new file
Drop support for M303 and PID_TUNE, and replace it with a new PID_CALIBRATE command. Move the logic for this command from heater.py to a new pid_calibrate.py file in the extras/ directory. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
310cdf88cc
commit
973ef97143
5 changed files with 147 additions and 147 deletions
139
klippy/heater.py
139
klippy/heater.py
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@ -98,6 +98,7 @@ REPORT_TIME = 0.300
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MAX_HEAT_TIME = 5.0
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AMBIENT_TEMP = 25.
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PID_PARAM_BASE = 255.
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PWM_DELAY = REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT
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class error(Exception):
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pass
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@ -141,8 +142,9 @@ class PrinterHeater:
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# pwm caching
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self.next_pwm_time = 0.
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self.last_pwm_value = 0.
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# Load verify_heater module
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# Load additional modules
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printer.try_load_module(config, "verify_heater %s" % (self.name,))
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printer.try_load_module(config, "pid_calibrate")
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def set_pwm(self, read_time, value):
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if self.target_temp <= 0.:
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value = 0.
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@ -150,7 +152,7 @@ class PrinterHeater:
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and abs(value - self.last_pwm_value) < 0.05):
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# No significant change in value - can suppress update
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return
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pwm_time = read_time + REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT
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pwm_time = read_time + PWM_DELAY
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self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
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self.last_pwm_value = value
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logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])",
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@ -181,16 +183,12 @@ class PrinterHeater:
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def check_busy(self, eventtime):
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with self.lock:
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return self.control.check_busy(eventtime)
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def start_auto_tune(self, degrees):
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if degrees and (degrees < self.min_temp or degrees > self.max_temp):
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raise error("Requested temperature (%.1f) out of range (%.1f:%.1f)"
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% (degrees, self.min_temp, self.max_temp))
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def set_control(self, control):
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with self.lock:
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self.control = ControlAutoTune(self, self.control)
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self.target_temp = degrees
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def finish_auto_tune(self, old_control):
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self.control = old_control
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self.target_temp = 0
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old_control = self.control
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self.control = control
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self.target_temp = 0.
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return old_control
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def stats(self, eventtime):
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with self.lock:
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target_temp = self.target_temp
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@ -278,125 +276,6 @@ class ControlPID:
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return (abs(temp_diff) > PID_SETTLE_DELTA
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or abs(self.prev_temp_deriv) > PID_SETTLE_SLOPE)
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######################################################################
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# Ziegler-Nichols PID autotuning
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######################################################################
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TUNE_PID_DELTA = 5.0
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class ControlAutoTune:
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def __init__(self, heater, old_control):
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self.heater = heater
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self.old_control = old_control
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self.heating = False
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self.peaks = []
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self.peak = 0.
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self.peak_time = 0.
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def adc_callback(self, read_time, temp):
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if self.heating and temp >= self.heater.target_temp:
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self.heating = False
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self.check_peaks()
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elif (not self.heating
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and temp <= self.heater.target_temp - TUNE_PID_DELTA):
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self.heating = True
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self.check_peaks()
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if self.heating:
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self.heater.set_pwm(read_time, self.heater.max_power)
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if temp < self.peak:
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self.peak = temp
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self.peak_time = read_time
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else:
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self.heater.set_pwm(read_time, 0.)
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if temp > self.peak:
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self.peak = temp
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self.peak_time = read_time
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def check_peaks(self):
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self.peaks.append((self.peak, self.peak_time))
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if self.heating:
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self.peak = 9999999.
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else:
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self.peak = -9999999.
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if len(self.peaks) < 4:
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return
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self.calc_pid(len(self.peaks)-1)
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def calc_pid(self, pos):
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temp_diff = self.peaks[pos][0] - self.peaks[pos-1][0]
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time_diff = self.peaks[pos][1] - self.peaks[pos-2][1]
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max_power = self.heater.max_power
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Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi)
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Tu = time_diff
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Ti = 0.5 * Tu
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Td = 0.125 * Tu
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Kp = 0.6 * Ku * PID_PARAM_BASE
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Ki = Kp / Ti
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Kd = Kp * Td
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logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f",
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temp_diff, max_power, Ku, Tu, Kp, Ki, Kd)
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return Kp, Ki, Kd
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def final_calc(self):
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cycle_times = [(self.peaks[pos][1] - self.peaks[pos-2][1], pos)
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for pos in range(4, len(self.peaks))]
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midpoint_pos = sorted(cycle_times)[len(cycle_times)/2][1]
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Kp, Ki, Kd = self.calc_pid(midpoint_pos)
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logging.info("Autotune: final: Kp=%f Ki=%f Kd=%f", Kp, Ki, Kd)
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gcode = self.heater.printer.lookup_object('gcode')
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gcode.respond_info(
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"PID parameters: pid_Kp=%.3f pid_Ki=%.3f pid_Kd=%.3f\n"
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"To use these parameters, update the printer config file with\n"
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"the above and then issue a RESTART command" % (Kp, Ki, Kd))
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def check_busy(self, eventtime):
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if self.heating or len(self.peaks) < 12:
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return True
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self.final_calc()
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self.heater.finish_auto_tune(self.old_control)
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return False
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######################################################################
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# Tuning information test
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######################################################################
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class ControlBumpTest:
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def __init__(self, heater, old_control):
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self.heater = heater
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self.old_control = old_control
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self.temp_samples = {}
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self.pwm_samples = {}
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self.state = 0
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def set_pwm(self, read_time, value):
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self.pwm_samples[read_time + 2*REPORT_TIME] = value
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self.heater.set_pwm(read_time, value)
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def adc_callback(self, read_time, temp):
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self.temp_samples[read_time] = temp
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if not self.state:
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self.set_pwm(read_time, 0.)
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if len(self.temp_samples) >= 20:
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self.state += 1
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elif self.state == 1:
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if temp < self.heater.target_temp:
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self.set_pwm(read_time, self.heater.max_power)
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return
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self.set_pwm(read_time, 0.)
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self.state += 1
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elif self.state == 2:
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self.set_pwm(read_time, 0.)
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if temp <= (self.heater.target_temp + AMBIENT_TEMP) / 2.:
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self.dump_stats()
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self.state += 1
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def dump_stats(self):
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out = ["%.3f %.1f %d" % (time, temp, self.pwm_samples.get(time, -1.))
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for time, temp in sorted(self.temp_samples.items())]
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f = open("/tmp/heattest.txt", "wb")
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f.write('\n'.join(out))
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f.close()
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def check_busy(self, eventtime):
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if self.state < 3:
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return True
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self.heater.finish_auto_tune(self.old_control)
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return False
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def add_printer_objects(printer, config):
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if config.has_section('heater_bed'):
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printer.add_object('heater_bed', PrinterHeater(
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