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PID Climate - deadband and output sampling (#3254)

This commit is contained in:
Patrick Collins 2022-11-30 08:58:43 +11:00 committed by GitHub
parent d706f40ce1
commit 3669320398
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 278 additions and 71 deletions
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46
esphome/components/pid/climate.py
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@ -18,6 +18,7 @@ CONF_DEFAULT_TARGET_TEMPERATURE = "default_target_temperature"
CONF_KP = "kp"
CONF_KI = "ki"
CONF_STARTING_INTEGRAL_TERM = "starting_integral_term"
CONF_KD = "kd"
CONF_CONTROL_PARAMETERS = "control_parameters"
CONF_COOL_OUTPUT = "cool_output"
@ -27,6 +28,17 @@ CONF_POSITIVE_OUTPUT = "positive_output"
CONF_NEGATIVE_OUTPUT = "negative_output"
CONF_MIN_INTEGRAL = "min_integral"
CONF_MAX_INTEGRAL = "max_integral"
CONF_OUTPUT_AVERAGING_SAMPLES = "output_averaging_samples"
CONF_DERIVATIVE_AVERAGING_SAMPLES = "derivative_averaging_samples"
# Deadband parameters
CONF_DEADBAND_PARAMETERS = "deadband_parameters"
CONF_THRESHOLD_HIGH = "threshold_high"
CONF_THRESHOLD_LOW = "threshold_low"
CONF_DEADBAND_OUTPUT_AVERAGING_SAMPLES = "deadband_output_averaging_samples"
CONF_KP_MULTIPLIER = "kp_multiplier"
CONF_KI_MULTIPLIER = "ki_multiplier"
CONF_KD_MULTIPLIER = "kd_multiplier"
CONFIG_SCHEMA = cv.All(
climate.CLIMATE_SCHEMA.extend(
@ -36,13 +48,28 @@ CONFIG_SCHEMA = cv.All(
cv.Required(CONF_DEFAULT_TARGET_TEMPERATURE): cv.temperature,
cv.Optional(CONF_COOL_OUTPUT): cv.use_id(output.FloatOutput),
cv.Optional(CONF_HEAT_OUTPUT): cv.use_id(output.FloatOutput),
cv.Optional(CONF_DEADBAND_PARAMETERS): cv.Schema(
{
cv.Required(CONF_THRESHOLD_HIGH): cv.temperature,
cv.Required(CONF_THRESHOLD_LOW): cv.temperature,
cv.Optional(CONF_KP_MULTIPLIER, default=0.1): cv.float_,
cv.Optional(CONF_KI_MULTIPLIER, default=0.0): cv.float_,
cv.Optional(CONF_KD_MULTIPLIER, default=0.0): cv.float_,
cv.Optional(
CONF_DEADBAND_OUTPUT_AVERAGING_SAMPLES, default=1
): cv.int_,
}
),
cv.Required(CONF_CONTROL_PARAMETERS): cv.Schema(
{
cv.Required(CONF_KP): cv.float_,
cv.Optional(CONF_KI, default=0.0): cv.float_,
cv.Optional(CONF_KD, default=0.0): cv.float_,
cv.Optional(CONF_STARTING_INTEGRAL_TERM, default=0.0): cv.float_,
cv.Optional(CONF_MIN_INTEGRAL, default=-1): cv.float_,
cv.Optional(CONF_MAX_INTEGRAL, default=1): cv.float_,
cv.Optional(CONF_DERIVATIVE_AVERAGING_SAMPLES, default=1): cv.int_,
cv.Optional(CONF_OUTPUT_AVERAGING_SAMPLES, default=1): cv.int_,
}
),
}
@ -69,11 +96,29 @@ async def to_code(config):
cg.add(var.set_kp(params[CONF_KP]))
cg.add(var.set_ki(params[CONF_KI]))
cg.add(var.set_kd(params[CONF_KD]))
cg.add(var.set_starting_integral_term(params[CONF_STARTING_INTEGRAL_TERM]))
cg.add(var.set_derivative_samples(params[CONF_DERIVATIVE_AVERAGING_SAMPLES]))
cg.add(var.set_output_samples(params[CONF_OUTPUT_AVERAGING_SAMPLES]))
if CONF_MIN_INTEGRAL in params:
cg.add(var.set_min_integral(params[CONF_MIN_INTEGRAL]))
if CONF_MAX_INTEGRAL in params:
cg.add(var.set_max_integral(params[CONF_MAX_INTEGRAL]))
if CONF_DEADBAND_PARAMETERS in config:
params = config[CONF_DEADBAND_PARAMETERS]
cg.add(var.set_threshold_low(params[CONF_THRESHOLD_LOW]))
cg.add(var.set_threshold_high(params[CONF_THRESHOLD_HIGH]))
cg.add(var.set_kp_multiplier(params[CONF_KP_MULTIPLIER]))
cg.add(var.set_ki_multiplier(params[CONF_KI_MULTIPLIER]))
cg.add(var.set_kd_multiplier(params[CONF_KD_MULTIPLIER]))
cg.add(
var.set_deadband_output_samples(
params[CONF_DEADBAND_OUTPUT_AVERAGING_SAMPLES]
)
)
cg.add(var.set_default_target_temperature(config[CONF_DEFAULT_TARGET_TEMPERATURE]))
@ -140,4 +185,5 @@ async def set_control_parameters(config, action_id, template_arg, args):
kd_template_ = await cg.templatable(config[CONF_KD], args, float)
cg.add(var.set_kd(kd_template_))
return var

18
esphome/components/pid/pid_climate.cpp
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@ -61,7 +61,17 @@ climate::ClimateTraits PIDClimate::traits() {
void PIDClimate::dump_config() {
LOG_CLIMATE("", "PID Climate", this);
ESP_LOGCONFIG(TAG, " Control Parameters:");
ESP_LOGCONFIG(TAG, " kp: %.5f, ki: %.5f, kd: %.5f", controller_.kp, controller_.ki, controller_.kd);
ESP_LOGCONFIG(TAG, " kp: %.5f, ki: %.5f, kd: %.5f, output samples: %d", controller_.kp_, controller_.ki_,
controller_.kd_, controller_.output_samples_);
if (controller_.threshold_low_ == 0 && controller_.threshold_high_ == 0) {
ESP_LOGCONFIG(TAG, " Deadband disabled.");
} else {
ESP_LOGCONFIG(TAG, " Deadband Parameters:");
ESP_LOGCONFIG(TAG, " threshold: %0.5f to %0.5f, multipliers(kp: %.5f, ki: %.5f, kd: %.5f), output samples: %d",
controller_.threshold_low_, controller_.threshold_high_, controller_.kp_multiplier_,
controller_.ki_multiplier_, controller_.kd_multiplier_, controller_.deadband_output_samples_);
}
if (this->autotuner_ != nullptr) {
this->autotuner_->dump_config();
@ -114,9 +124,9 @@ void PIDClimate::update_pid_() {
if (this->autotuner_ != nullptr && !this->autotuner_->is_finished()) {
auto res = this->autotuner_->update(this->target_temperature, this->current_temperature);
if (res.result_params.has_value()) {
this->controller_.kp = res.result_params->kp;
this->controller_.ki = res.result_params->ki;
this->controller_.kd = res.result_params->kd;
this->controller_.kp_ = res.result_params->kp;
this->controller_.ki_ = res.result_params->ki;
this->controller_.kd_ = res.result_params->kd;
// keep autotuner instance so that subsequent dump_configs will print the long result message.
} else {
value = res.output;

50
esphome/components/pid/pid_climate.h
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@ -21,20 +21,46 @@ class PIDClimate : public climate::Climate, public Component {
void set_sensor(sensor::Sensor *sensor) { sensor_ = sensor; }
void set_cool_output(output::FloatOutput *cool_output) { cool_output_ = cool_output; }
void set_heat_output(output::FloatOutput *heat_output) { heat_output_ = heat_output; }
void set_kp(float kp) { controller_.kp = kp; }
void set_ki(float ki) { controller_.ki = ki; }
void set_kd(float kd) { controller_.kd = kd; }
void set_min_integral(float min_integral) { controller_.min_integral = min_integral; }
void set_max_integral(float max_integral) { controller_.max_integral = max_integral; }
void set_kp(float kp) { controller_.kp_ = kp; }
void set_ki(float ki) { controller_.ki_ = ki; }
void set_kd(float kd) { controller_.kd_ = kd; }
void set_min_integral(float min_integral) { controller_.min_integral_ = min_integral; }
void set_max_integral(float max_integral) { controller_.max_integral_ = max_integral; }
void set_output_samples(int in) { controller_.output_samples_ = in; }
void set_derivative_samples(int in) { controller_.derivative_samples_ = in; }
void set_threshold_low(float in) { controller_.threshold_low_ = in; }
void set_threshold_high(float in) { controller_.threshold_high_ = in; }
void set_kp_multiplier(float in) { controller_.kp_multiplier_ = in; }
void set_ki_multiplier(float in) { controller_.ki_multiplier_ = in; }
void set_kd_multiplier(float in) { controller_.kd_multiplier_ = in; }
void set_starting_integral_term(float in) { controller_.set_starting_integral_term(in); }
void set_deadband_output_samples(int in) { controller_.deadband_output_samples_ = in; }
float get_output_value() const { return output_value_; }
float get_error_value() const { return controller_.error; }
float get_kp() { return controller_.kp; }
float get_ki() { return controller_.ki; }
float get_kd() { return controller_.kd; }
float get_proportional_term() const { return controller_.proportional_term; }
float get_integral_term() const { return controller_.integral_term; }
float get_derivative_term() const { return controller_.derivative_term; }
float get_error_value() const { return controller_.error_; }
float get_kp() { return controller_.kp_; }
float get_ki() { return controller_.ki_; }
float get_kd() { return controller_.kd_; }
float get_proportional_term() const { return controller_.proportional_term_; }
float get_integral_term() const { return controller_.integral_term_; }
float get_derivative_term() const { return controller_.derivative_term_; }
int get_output_samples() { return controller_.output_samples_; }
int get_derivative_samples() { return controller_.derivative_samples_; }
float get_threshold_low() { return controller_.threshold_low_; }
float get_threshold_high() { return controller_.threshold_high_; }
float get_kp_multiplier() { return controller_.kp_multiplier_; }
float get_ki_multiplier() { return controller_.ki_multiplier_; }
float get_kd_multiplier() { return controller_.kd_multiplier_; }
int get_deadband_output_samples() { return controller_.deadband_output_samples_; }
bool in_deadband() { return controller_.in_deadband(); }
// int get_derivative_samples() const { return controller_.derivative_samples; }
// float get_deadband() const { return controller_.deadband; }
// float get_proportional_deadband_multiplier() const { return controller_.proportional_deadband_multiplier; }
void add_on_pid_computed_callback(std::function<void()> &&callback) {
pid_computed_callback_.add(std::move(callback));
}

124
esphome/components/pid/pid_controller.cpp Normal file
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@ -0,0 +1,124 @@
#include "pid_controller.h"
namespace esphome {
namespace pid {
float PIDController::update(float setpoint, float process_value) {
// e(t) ... error at timestamp t
// r(t) ... setpoint
// y(t) ... process value (sensor reading)
// u(t) ... output value
dt_ = calculate_relative_time_();
// e(t) := r(t) - y(t)
error_ = setpoint - process_value;
calculate_proportional_term_();
calculate_integral_term_();
calculate_derivative_term_();
// u(t) := p(t) + i(t) + d(t)
float output = proportional_term_ + integral_term_ + derivative_term_;
// smooth/sample the output
int samples = in_deadband() ? deadband_output_samples_ : output_samples_;
return weighted_average_(output_list_, output, samples);
}
bool PIDController::in_deadband() {
// return (fabs(error) < deadband_threshold);
float err = -error_;
return ((err > 0 && err < threshold_high_) || (err < 0 && err > threshold_low_));
}
void PIDController::calculate_proportional_term_() {
// p(t) := K_p * e(t)
proportional_term_ = kp_ * error_;
// set dead-zone to -X to +X
if (in_deadband()) {
// shallow the proportional_term in the deadband by the pdm
proportional_term_ *= kp_multiplier_;
} else {
// pdm_offset prevents a jump when leaving the deadband
float threshold = (error_ < 0) ? threshold_high_ : threshold_low_;
float pdm_offset = (threshold - (kp_multiplier_ * threshold)) * kp_;
proportional_term_ += pdm_offset;
}
}
void PIDController::calculate_integral_term_() {
// i(t) := K_i * \int_{0}^{t} e(t) dt
float new_integral = error_ * dt_ * ki_;
if (in_deadband()) {
// shallow the integral when in the deadband
accumulated_integral_ += new_integral * ki_multiplier_;
} else {
accumulated_integral_ += new_integral;
}
// constrain accumulated integral value
if (!std::isnan(min_integral_) && accumulated_integral_ < min_integral_)
accumulated_integral_ = min_integral_;
if (!std::isnan(max_integral_) && accumulated_integral_ > max_integral_)
accumulated_integral_ = max_integral_;
integral_term_ = accumulated_integral_;
}
void PIDController::calculate_derivative_term_() {
// derivative_term_
// d(t) := K_d * de(t)/dt
float derivative = 0.0f;
if (dt_ != 0.0f)
derivative = (error_ - previous_error_) / dt_;
previous_error_ = error_;
// smooth the derivative samples
derivative = weighted_average_(derivative_list_, derivative, derivative_samples_);
derivative_term_ = kd_ * derivative;
if (in_deadband()) {
// shallow the derivative when in the deadband
derivative_term_ *= kd_multiplier_;
}
}
float PIDController::weighted_average_(std::deque<float> &list, float new_value, int samples) {
// if only 1 sample needed, clear the list and return
if (samples == 1) {
list.clear();
return new_value;
}
// add the new item to the list
list.push_front(new_value);
// keep only 'samples' readings, by popping off the back of the list
while (list.size() > samples)
list.pop_back();
// calculate and return the average of all values in the list
float sum = 0;
for (auto &elem : list)
sum += elem;
return sum / list.size();
}
float PIDController::calculate_relative_time_() {
uint32_t now = millis();
uint32_t dt = now - this->last_time_;
if (last_time_ == 0) {
last_time_ = now;
return 0.0f;
}
last_time_ = now;
return dt / 1000.0f;
}
} // namespace pid
} // namespace esphome

99
esphome/components/pid/pid_controller.h
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@ -1,81 +1,70 @@
#pragma once
#include "esphome/core/hal.h"
#include <deque>
#include <cmath>
namespace esphome {
namespace pid {
struct PIDController {
float update(float setpoint, float process_value) {
// e(t) ... error at timestamp t
// r(t) ... setpoint
// y(t) ... process value (sensor reading)
// u(t) ... output value
float dt = calculate_relative_time_();
// e(t) := r(t) - y(t)
error = setpoint - process_value;
// p(t) := K_p * e(t)
proportional_term = kp * error;
// i(t) := K_i * \int_{0}^{t} e(t) dt
accumulated_integral_ += error * dt * ki;
// constrain accumulated integral value
if (!std::isnan(min_integral) && accumulated_integral_ < min_integral)
accumulated_integral_ = min_integral;
if (!std::isnan(max_integral) && accumulated_integral_ > max_integral)
accumulated_integral_ = max_integral;
integral_term = accumulated_integral_;
// d(t) := K_d * de(t)/dt
float derivative = 0.0f;
if (dt != 0.0f)
derivative = (error - previous_error_) / dt;
previous_error_ = error;
derivative_term = kd * derivative;
// u(t) := p(t) + i(t) + d(t)
return proportional_term + integral_term + derivative_term;
}
float update(float setpoint, float process_value);
void reset_accumulated_integral() { accumulated_integral_ = 0; }
void set_starting_integral_term(float in) { accumulated_integral_ = in; }
bool in_deadband();
friend class PIDClimate;
private:
/// Proportional gain K_p.
float kp = 0;
float kp_ = 0;
/// Integral gain K_i.
float ki = 0;
float ki_ = 0;
/// Differential gain K_d.
float kd = 0;
float kd_ = 0;
float min_integral = NAN;
float max_integral = NAN;
// smooth the derivative value using a weighted average over X samples
int derivative_samples_ = 8;
/// smooth the output value using a weighted average over X values
int output_samples_ = 1;
float threshold_low_ = 0.0f;
float threshold_high_ = 0.0f;
float kp_multiplier_ = 0.0f;
float ki_multiplier_ = 0.0f;
float kd_multiplier_ = 0.0f;
int deadband_output_samples_ = 1;
float min_integral_ = NAN;
float max_integral_ = NAN;
// Store computed values in struct so that values can be monitored through sensors
float error;
float proportional_term;
float integral_term;
float derivative_term;
float error_;
float dt_;
float proportional_term_;
float integral_term_;
float derivative_term_;
protected:
float calculate_relative_time_() {
uint32_t now = millis();
uint32_t dt = now - this->last_time_;
if (last_time_ == 0) {
last_time_ = now;
return 0.0f;
}
last_time_ = now;
return dt / 1000.0f;
}
void calculate_proportional_term_();
void calculate_integral_term_();
void calculate_derivative_term_();
float weighted_average_(std::deque<float> &list, float new_value, int samples);
float calculate_relative_time_();
/// Error from previous update used for derivative term
float previous_error_ = 0;
/// Accumulated integral value
float accumulated_integral_ = 0;
uint32_t last_time_ = 0;
};
// this is a list of derivative values for smoothing.
std::deque<float> derivative_list_;
// this is a list of output values for smoothing.
std::deque<float> output_list_;
}; // Struct PID Controller
} // namespace pid
} // namespace esphome

12
tests/test3.yaml
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@ -1162,6 +1162,18 @@ climate:
kp: 0.0
ki: 0.0
kd: 0.0
max_integral: 0.0
output_averaging_samples: 1
derivative_averaging_samples: 1
deadband_parameters:
threshold_high: 0.4
threshold_low: -2.0
kp_multiplier: 0.0
ki_multiplier: 0.0
kd_multiplier: 0.0
deadband_output_averaging_samples: 1
sprinkler:
- id: yard_sprinkler_ctrlr