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0.8.910009-zero

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This commit is contained in:
Patrick Amrhein 2024-03-14 20:25:19 +01:00
parent 3dfbee82c7
commit d203defb2e
6 changed files with 107 additions and 18 deletions
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69
src/plugins/zeroExport/zeroExport.h
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@ -46,9 +46,9 @@ class ZeroExport {
mApi = api;
mMqtt = mqtt;
// mIsInitialized = true;
mIsInitialized = true;
// TODO: Sicherheitsreturn weil noch Sicherheitsfunktionen fehlen.
mIsInitialized = false;
// mIsInitialized = false;
}
/** loop
@ -393,6 +393,12 @@ mCfg->groups[group].lastRefresh = millis();;
}
}
if (wait) {
if (mCfg->groups[group].lastRun > (millis() - 30000UL)) {
wait = false;
}
}
mLog["wait"] = wait;
// Next
@ -660,28 +666,57 @@ mCfg->groups[group].lastRefresh = millis();;
// Regler
// TODO: Regelparameter unter Advanced konfigurierbar? Aber erst wenn Regler komplett ingegriert.
const float Kp = -1;
const float Ki = -1;
const float Kd = -1;
float Kp = mCfg->groups[group].Kp;
float Ki = mCfg->groups[group].Ki;
float Kd = mCfg->groups[group].Kd;
unsigned long Ta = bTsp - mCfg->groups[group].lastRefresh;
mLog["Kp"] = Kp;
mLog["Ki"] = Ki;
mLog["Kd"] = Kd;
mLog["Ta"] = Ta;
// - P-Anteil
float yP = Kp * e;
float yP1 = Kp * e1;
float yP2 = Kp * e2;
float yP3 = Kp * e3;
mLog["yP"] = yP;
mLog["yP1"] = yP1;
mLog["yP2"] = yP2;
mLog["yP3"] = yP3;
// - I-Anteil
// float esum = esum + e;
// float yI = Ki * Ta * esum;
float yI = 0;
float yI1 = 0;
float yI2 = 0;
float yI3 = 0;
mCfg->groups[group].eSum += e;
mCfg->groups[group].eSum1 += e1;
mCfg->groups[group].eSum2 += e2;
mCfg->groups[group].eSum3 += e3;
mLog["esum"] = mCfg->groups[group].eSum;
mLog["esum1"] = mCfg->groups[group].eSum1;
mLog["esum2"] = mCfg->groups[group].eSum2;
mLog["esum3"] = mCfg->groups[group].eSum3;
float yI = Ki * Ta * mCfg->groups[group].eSum;
float yI1 = Ki * Ta * mCfg->groups[group].eSum1;
float yI2 = Ki * Ta * mCfg->groups[group].eSum2;
float yI3 = Ki * Ta * mCfg->groups[group].eSum3;
mLog["yI"] = yI;
mLog["yI1"] = yI1;
mLog["yI2"] = yI2;
mLog["yI3"] = yI3;
// - D-Anteil
// float yD = Kd * (e -ealt) / Ta;
// float ealt = e;
float yD = 0;
float yD1 = 0;
float yD2 = 0;
float yD3 = 0;
mLog["ealt"] = mCfg->groups[group].eOld;
mLog["ealt1"] = mCfg->groups[group].eOld1;
mLog["ealt2"] = mCfg->groups[group].eOld2;
mLog["ealt3"] = mCfg->groups[group].eOld3;
float yD = Kd * (e - mCfg->groups[group].eOld) / Ta;
float yD1 = Kd * (e1 - mCfg->groups[group].eOld1) / Ta;
float yD2 = Kd * (e2 - mCfg->groups[group].eOld2) / Ta;
float yD3 = Kd * (e3 - mCfg->groups[group].eOld3) / Ta;
mLog["yD"] = yD;
mLog["yD1"] = yD1;
mLog["yD2"] = yD2;
mLog["yD3"] = yD3;
mCfg->groups[group].eOld = e;
mCfg->groups[group].eOld1 = e1;
mCfg->groups[group].eOld2 = e2;
mCfg->groups[group].eOld3 = e3;
// - PID-Anteil
float yPID = yP + yI + yD;
float yPID1 = yP1 + yI1 + yD1;