diff options
Diffstat (limited to 'control/zone.cpp')
| -rw-r--r-- | control/zone.cpp | 86 |
1 files changed, 86 insertions, 0 deletions
diff --git a/control/zone.cpp b/control/zone.cpp index 468a605..ce187b1 100644 --- a/control/zone.cpp +++ b/control/zone.cpp @@ -13,6 +13,9 @@ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. + * + * PID controls (c) 2018 Raptor Engineering, LLC + * Licensed for use with Raptor Computing Systems machines only */ #include <chrono> #include <functional> @@ -61,6 +64,7 @@ Zone::Zone(Mode mode, _decInterval(std::get<decIntervalPos>(def)), _incTimer(event, std::bind(&Zone::incTimerExpired, this)), _decTimer(event, std::bind(&Zone::decTimerExpired, this)), + _pidTimer(event, std::bind(&Zone::pidTimerExpired, this)), _eventLoop(event) { auto& fanDefs = std::get<fanListPos>(def); @@ -97,6 +101,8 @@ Zone::Zone(Mode mode, } // Start timer for fan speed decreases _decTimer.restart(_decInterval); + // Start timer for PID loops + _pidTimer.restart(std::chrono::seconds(1)); } } @@ -122,6 +128,9 @@ void Zone::setFullSpeed() fan->setSpeed(_targetSpeed); } } + + _pidIntegrator = 0; + _pidPrevError = 0; } void Zone::disableRotors() @@ -130,6 +139,9 @@ void Zone::disableRotors() { fan->disableRotor(); } + + _pidIntegrator = 0; + _pidPrevError = 0; } void Zone::setActiveAllow(const Group* group, bool isActiveAllow) @@ -147,6 +159,9 @@ void Zone::setActiveAllow(const Group* group, bool isActiveAllow) _active.end(), actPred); } + + _pidIntegrator = 0; + _pidPrevError = 0; } void Zone::removeService(const Group* group, @@ -289,6 +304,16 @@ void Zone::requestSpeedDecrease(uint64_t targetDelta) } } +void Zone::runPidLoop(int64_t error, uint64_t integrator_timestep, int64_t kp, int64_t ki, int64_t kd) +{ + _pidLastError = error; + _pidLastIntegratorTimestep = integrator_timestep; + _pidLastKp = kp; + _pidLastKi = ki; + _pidLastKd = kd; + _pidActive = true; +} + void Zone::decTimerExpired() { // Check all entries are set to allow a decrease @@ -326,6 +351,67 @@ void Zone::decTimerExpired() // Decrease timer is restarted since its repeating } +void Zone::pidTimerExpired() +{ + if (!_pidActive) + { + return; + } + + /* If error is positive on startup, set fans to full by forcing integrator to maximum value */ + if (!_pidActivePrev) { + if (_pidLastError > 0) { + _pidIntegrator = ((_ceilingSpeed - _floorSpeed) * 100000) / _pidLastKi; + } + } + + auto pidIntegrator_orig = _pidIntegrator; + _pidIntegrator += _pidLastError * _pidLastIntegratorTimestep; + int64_t derivative = (_pidLastError - _pidPrevError) / _pidLastIntegratorTimestep; + int64_t pid_output = ((_pidLastError * _pidLastKp) + (_pidIntegrator * _pidLastKi) + (derivative * _pidLastKd)) / 100000; + _pidPrevError = _pidLastError; + + uint64_t requestTarget = _floorSpeed; + if (pid_output > 0) + { + requestTarget = _floorSpeed + pid_output; + } + else { + _pidIntegrator = pidIntegrator_orig; + } + // Target speed can not go above a defined ceiling speed + if (requestTarget > _ceilingSpeed) + { + requestTarget = _ceilingSpeed; + _pidIntegrator = pidIntegrator_orig; + } + // Target speed can not go below a defined floor speed + if (requestTarget < _floorSpeed) + { + requestTarget = _floorSpeed; + _pidIntegrator = pidIntegrator_orig; + } + + /* Cap integrator wind-up */ + if (_pidLastKi != 0) { + if (_pidIntegrator > (int64_t)(((_ceilingSpeed - _floorSpeed) * 100000) / _pidLastKi)) + { + _pidIntegrator = ((_ceilingSpeed - _floorSpeed) * 100000) / _pidLastKi; + } + if (_pidIntegrator < ((int64_t)((_ceilingSpeed - _floorSpeed) * -100000) / _pidLastKi)) + { + _pidIntegrator = ((_ceilingSpeed - _floorSpeed) * -100000) / _pidLastKi; + } + } + else { + _pidIntegrator = 0; + } + + setRequestSpeedBase(requestTarget); + + _pidActivePrev = true; +} + void Zone::initEvent(const SetSpeedEvent& event) { sdbusplus::message::message nullMsg{nullptr}; |
