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Merge pull request #1344 from grob6000/independent_pid

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Independent PID parameters for each extruder
This commit is contained in:
Bo Herrmannsen
2015-01-13 12:10:37 +01:00
parent d4a665694a bf2c923db5
commit ab074dac17
18 changed files with 339 additions and 116 deletions
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36
Marlin/temperature.cpp
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@ -51,14 +51,6 @@ float current_temperature_bed = 0.0;
int redundant_temperature_raw = 0;
float redundant_temperature = 0.0;
#endif
#ifdef PIDTEMP
float Kp=DEFAULT_Kp;
float Ki=(DEFAULT_Ki*PID_dT);
float Kd=(DEFAULT_Kd/PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE
float Kc=DEFAULT_Kc;
#endif
#endif //PIDTEMP
#ifdef PIDTEMPBED
float bedKp=DEFAULT_bedKp;
@ -134,6 +126,24 @@ static volatile bool temp_meas_ready = false;
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
#endif
#ifdef PIDTEMP
#ifdef PID_PARAMS_PER_EXTRUDER
float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp);
float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT);
float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE
float Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc);
#endif // PID_ADD_EXTRUSION_RATE
#else //PID_PARAMS_PER_EXTRUDER
float Kp = DEFAULT_Kp;
float Ki = DEFAULT_Ki * PID_dT;
float Kd = DEFAULT_Kd / PID_dT;
#ifdef PID_ADD_EXTRUSION_RATE
float Kc = DEFAULT_Kc;
#endif // PID_ADD_EXTRUSION_RATE
#endif // PID_PARAMS_PER_EXTRUDER
#endif //PIDTEMP
// Init min and max temp with extreme values to prevent false errors during startup
static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP );
static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP );
@ -343,7 +353,7 @@ void updatePID()
{
#ifdef PIDTEMP
for(int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e);
}
#endif
#ifdef PIDTEMPBED
@ -464,14 +474,14 @@ void manage_heater()
temp_iState[e] = 0.0;
pid_reset[e] = false;
}
pTerm[e] = Kp * pid_error[e];
pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = Ki * temp_iState[e];
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
if (pid_output > PID_MAX) {
if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
@ -811,7 +821,7 @@ void tp_init()
maxttemp[e] = maxttemp[0];
#ifdef PIDTEMP
temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e);
#endif //PIDTEMP
#ifdef PIDTEMPBED
temp_iState_min_bed = 0.0;