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- adds PID P-on-Measurement/Input mode (complementing the standard P-…
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…on-Error mode)

- fixes Fuji PXR PID dialog (Issue #243)
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@MAKOMO
MAKOMO committed Aug 29, 2018
1 parent e424bf4 commit 65ca9d2
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Showing 2 changed files with 69 additions and 25 deletions.
67 changes: 49 additions & 18 deletions src/artisanlib/main.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@
QLCDNumber, QSpinBox, QComboBox, QHeaderView, # @Reimport
QSlider, QTabWidget, QStackedWidget, QTextEdit, QRadioButton, # @Reimport
QColorDialog, QFrame, QCheckBox,QStatusBar, QProgressDialog, # @Reimport
QStyleFactory, QTableWidget, QTableWidgetItem, QMenu, QDoubleSpinBox) # @Reimport
QStyleFactory, QTableWidget, QTableWidgetItem, QMenu, QDoubleSpinBox,QButtonGroup) # @Reimport
from PyQt5.QtGui import (QImageReader, QWindow, # @Reimport
QKeySequence,QStandardItem,QImage,QPixmap,QColor,QPalette,QDesktopServices,QIcon, # @Reimport
QRegExpValidator,QDoubleValidator, QIntValidator,QPainter, QFont,QBrush, QRadialGradient,QCursor,QTextDocument) # @Reimport
Expand Down Expand Up @@ -6112,6 +6112,7 @@ def OnMonitor(self):
#disable RESET button:
aw.button_7.setEnabled(False)
aw.button_7.setStyleSheet(aw.pushbuttonstyles["DISABLED"])
aw.button_7.setVisible(False)
QApplication.processEvents()
aw.button_1.setStyleSheet(aw.pushbuttonstyles["ON"])
QApplication.processEvents()
Expand Down Expand Up @@ -6167,6 +6168,7 @@ def OffMonitor(self):
#enable RESET button:
aw.button_7.setStyleSheet(aw.pushbuttonstyles["RESET"])
aw.button_7.setEnabled(True)
aw.button_7.setVisible(True)
aw.button_1.setStyleSheet(aw.pushbuttonstyles["OFF"])
aw.button_1.setToolTip(QApplication.translate("Tooltip", "Start monitoring", None))
aw.sendmessage(QApplication.translate("Message","Scope stopped", None))
Expand Down Expand Up @@ -12065,13 +12067,13 @@ def __init__(self, parent = None):
self.level1layout.addWidget(self.button_2)
self.level1layout.addSpacing(15)
self.level1layout.addWidget(self.button_10)
self.level1layout.addSpacing(15)
self.level1layout.addSpacing(10)
self.level1layout.addWidget(self.button_18)
self.level1layout.addSpacing(15)
self.level1layout.addSpacing(10)
self.level1layout.addWidget(self.lcd1)
self.level1layout.setContentsMargins(0,0,0,0)
self.level1layout.setSpacing(0)
self.level1layout.setContentsMargins(5,5,5,0)
self.level1layout.setContentsMargins(3,3,3,0)

#level 3
level3layout.addLayout(pidbuttonLayout,0)
Expand Down Expand Up @@ -12556,6 +12558,7 @@ def openMachineSettings(self):
elif reply == QMessageBox.Yes:
aw.qmc.etypes = aw.qmc.etypesdefault
aw.loadSettings(fn=action.data(),remember=False)
print(action.text())
aw.establish_etypes()
aw.sendmessage(QApplication.translate("Message","Artisan configured for {0}",None).format(action.text()))
if aw.qmc.device == 29 and aw.modbus.type in [3,4]: # MODBUS TCP or UDP
Expand Down Expand Up @@ -18981,6 +18984,8 @@ def settingsLoad(self, filename=None):
aw.pidcontrol.pidPositiveTarget = toInt(settings.value("pidPositiveTarget",aw.pidcontrol.pidPositiveTarget))
aw.pidcontrol.pidNegativeTarget = toInt(settings.value("pidNegativeTarget",aw.pidcontrol.pidNegativeTarget))
aw.pidcontrol.invertControl = bool(toBool(settings.value("invertControl",aw.pidcontrol.invertControl)))
if settings.contains("pOnE"):
aw.pidcontrol.pOnE = bool(toBool(settings.value("pOnE",aw.pidcontrol.pOnE)))
settings.endGroup()

#restore pid settings
Expand Down Expand Up @@ -20187,6 +20192,7 @@ def closeEventSettings(self, filename=None):
settings.setValue("pidPositiveTarget",aw.pidcontrol.pidPositiveTarget)
settings.setValue("pidNegativeTarget",aw.pidcontrol.pidNegativeTarget)
settings.setValue("invertControl",aw.pidcontrol.invertControl)
settings.setValue("pOnE",aw.pidcontrol.pOnE)
settings.endGroup()
settings.beginGroup("PXR")
for key in list(self.fujipid.PXR.keys()):
Expand Down Expand Up @@ -45095,15 +45101,15 @@ def __init__(self, parent = None):
self.ETthermocombobox = QComboBox()
self.BTthermocombobox = QComboBox()
#self.BTthermocombobox.setStyleSheet("background-color:'lightgrey';")
self.ETthermocombobox.addItems(aw.fuji.PXRthermotypes)
self.ETthermocombobox.addItems(aw.fujipid.PXRthermotypes)
if aw.ser.readBTpid[0] == 0: #fuji PXG
self.BTthermocombobox.addItems(aw.fuji.PXGthermotypes)
self.BTthermocombobox.addItems(aw.fujipid.PXGthermotypes)
elif aw.ser.readBTpid[0] == 1: #fuji PXR
self.BTthermocombobox.addItems(aw.fuji.PXRthermotypes)
self.BTthermocombobox.addItems(aw.fujipid.PXRthermotypes)
else: # fuji PXF
self.BTthermocombobox.addItems(aw.fuji.PXFthermotypes)
if aw.fujipid.PXR["pvinputtype"][0] in aw.fuji.PXRconversiontoindex:
self.ETthermocombobox.setCurrentIndex(aw.fuji.PXRconversiontoindex.index(aw.fujipid.PXR["pvinputtype"][0]))
self.BTthermocombobox.addItems(aw.fujipid.PXFthermotypes)
if aw.fujipid.PXR["pvinputtype"][0] in aw.fujipid.PXRconversiontoindex:
self.ETthermocombobox.setCurrentIndex(aw.fujipid.PXRconversiontoindex.index(aw.fujipid.PXR["pvinputtype"][0]))
setETthermocouplebutton = QPushButton(QApplication.translate("Button","Set",None))
setETthermocouplebutton.setFocusPolicy(Qt.NoFocus)
setBTthermocouplebutton = QPushButton(QApplication.translate("Button","Set",None))
Expand Down Expand Up @@ -48676,11 +48682,30 @@ def __init__(self, parent = None):
pidSetBox.addStretch()
pidSetBox.addWidget(pidSetPID)

self.pOnGroup = QButtonGroup()
self.pOnGroup.setExclusive(True)
self.pOnE = QRadioButton("P on Error")
self.pOnGroup.addButton(self.pOnE)
self.pOnM = QRadioButton("P on Input")
self.pOnGroup.addButton(self.pOnM)
self.pOnE.setChecked(aw.pidcontrol.pOnE)
self.pOnM.setChecked(not aw.pidcontrol.pOnE)
if aw.pidcontrol.externalPIDControl() in [1,2] or aw.qmc.device == 19 and aw.pidcontrol.externalPIDControl():
self.pOnE.setEnabled(False)
self.pOnM.setEnabled(False)

pOnLayout = QVBoxLayout()
pOnLayout.addWidget(self.pOnE)
pOnLayout.addWidget(self.pOnM)

pidVBox = QVBoxLayout()
pidVBox.addLayout(pidSourceBox)
if aw.qmc.device == 19 and aw.qmc.PIDbuttonflag: # ArduinoTC4
pidVBox.addLayout(pidCycleBox)
pidVBox.addLayout(pOnLayout)
pidVBox.setAlignment(pOnLayout,Qt.AlignRight)
pidVBox.addLayout(pidSetBox)
pidVBox.setAlignment(pidSetBox,Qt.AlignRight)

#PID target (only shown if interal PID for hottop/modbus/TC4 is active
controlItems = ["None",aw.qmc.etypesf(0),aw.qmc.etypesf(1),aw.qmc.etypesf(2),aw.qmc.etypesf(3)]
Expand Down Expand Up @@ -48838,8 +48863,7 @@ def __init__(self, parent = None):
self.dutyMax.setSingleStep(10)
self.dutyMax.setValue(aw.pidcontrol.dutyMax)
self.dutyMax.setSuffix(" %")
dutyMaxLabel = QLabel(QApplication.translate("Label","Max",None))

dutyMaxLabel = QLabel(QApplication.translate("Label","Max",None))

svGrpBox = QVBoxLayout()
svGrpBox.addStretch()
Expand Down Expand Up @@ -49033,7 +49057,8 @@ def pidConf(self):
kd = self.pidKd.value() # 0.00
source = self.pidSource.currentIndex() + 1 # 1-4, def 1
cycle = self.pidCycle.value() # def 1000 in ms
aw.pidcontrol.confPID(kp,ki,kd,source,cycle)
pOnE = bool(self.pOnE.isChecked())
aw.pidcontrol.confPID(kp,ki,kd,source,cycle,pOnE)
if not (aw.qmc.device == 19 and aw.qmc.PIDbuttonflag): # don't show Targets if TC4 firmware PID is in use
aw.pidcontrol.pidPositiveTarget = self.positiveControlCombo.currentIndex()
aw.pidcontrol.pidNegativeTarget = self.negativeControlCombo.currentIndex()
Expand All @@ -49054,7 +49079,8 @@ def close(self):
aw.pidcontrol.pidNegativeTarget = self.negativeControlCombo.currentIndex()
aw.pidcontrol.invertControl = self.invertControlFlag.isChecked()
cycle = self.pidCycle.value() # def 1000 in ms
aw.pidcontrol.setPID(kp,ki,kd,source,cycle)
pOnE = bool(self.pOnE.isChecked())
aw.pidcontrol.setPID(kp,ki,kd,source,cycle,pOnE)
#
aw.pidcontrol.pidOnCHARGE = self.startPIDonCHARGE.isChecked()
aw.pidcontrol.loadRampSoakFromProfile = self.loadRampSoakFromProfile.isChecked()
Expand Down Expand Up @@ -49170,6 +49196,8 @@ def __init__(self):
self.pidKi = 0.01
self.pidKd = 3.0
self.lastEnergy = None
# Proposional on Measurement mode see: http://brettbeauregard.com/blog/2017/06/introducing-proportional-on-measurement/
self.pOnE = True # True for Proposional on Error mode, False for Proposional on Measurement Mode
# pidSource
# either the TC4 input channel from [1,..,4] if self.qmc.device == 19 (Arduino/TC4)
# in all other cases (HOTTOP, MODBUS,..), 1 is interpreted as BT and 2 as ET
Expand Down Expand Up @@ -49311,7 +49339,7 @@ def pidOn(self):
aw.ser.COMsemaphore.release(1)
# software PID
elif aw.qmc.Controlbuttonflag:
aw.qmc.pid.setPID(self.pidKp,self.pidKi,self.pidKd)
aw.qmc.pid.setPID(self.pidKp,self.pidKi,self.pidKd,self.pOnE)
aw.qmc.pid.setLimits((-100 if aw.pidcontrol.pidNegativeTarget else 0),(100 if aw.pidcontrol.pidPositiveTarget else 0))
aw.qmc.pid.setDutySteps(aw.pidcontrol.dutySteps)
aw.qmc.pid.setDutyMin(aw.pidcontrol.dutyMin)
Expand Down Expand Up @@ -49560,17 +49588,18 @@ def activateONOFFeasySV(self,flag):
aw.button_17.setVisible(False)

# just store the p-i-d configuration
def setPID(self,kp,ki,kd,source=None,cycle=None):
def setPID(self,kp,ki,kd,source=None,cycle=None,pOnE=True):
self.pidKp = kp
self.pidKi = ki
self.pidKd = kd
self.pOnE = pOnE
if source is not None:
self.pidSource = source
if cycle is not None:
self.pidCycle = cycle

# send conf to connected PID
def confPID(self,kp,ki,kd,source=None,cycle=None):
def confPID(self,kp,ki,kd,source=None,cycle=None,pOnE=True):
if (aw.pidcontrol.externalPIDControl() == 1): # MODBUS (external) Control active
aw.modbus.setPID(kp,ki,kd)
self.pidKp = kp
Expand All @@ -49584,6 +49613,7 @@ def confPID(self,kp,ki,kd,source=None,cycle=None):
self.pidKd = kd
aw.sendmessage(QApplication.translate("Message","p-i-d values updated", None))
elif aw.qmc.device == 19 and aw.pidcontrol.externalPIDControl(): # ArduinoTC4 firmware PID
# TODO: treat pOnE for TC4
if aw.ser.ArduinoIsInitialized:
try:
#### lock shared resources #####
Expand All @@ -49606,10 +49636,11 @@ def confPID(self,kp,ki,kd,source=None,cycle=None):
if aw.ser.COMsemaphore.available() < 1:
aw.ser.COMsemaphore.release(1)
elif aw.qmc.Controlbuttonflag: # in all other cases if the "Control" flag is ticked
aw.qmc.pid.setPID(kp,ki,kd)
aw.qmc.pid.setPID(kp,ki,kd,pOnE)
self.pidKp = kp
self.pidKi = ki
self.pidKd = kd
self.pOnE = pOnE
aw.qmc.pid.setLimits((-100 if aw.pidcontrol.pidNegativeTarget else 0),(100 if aw.pidcontrol.pidPositiveTarget else 0))
aw.sendmessage(QApplication.translate("Message","p-i-d values updated", None))

Expand Down
27 changes: 20 additions & 7 deletions src/artisanlib/pid.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,9 @@ def __init__(self, control=lambda _: _, p=2.0, i=0.03, d=0.0):
self.Kp = p
self.Ki = i
self.Kd = d
# Proposional on Measurement mode see: http://brettbeauregard.com/blog/2017/06/introducing-proportional-on-measurement/
self.pOnE = True # True for Proposional on Error mode, False for Proposional on Measurement Mode
self.Pterm = 0.0
self.errSum = 0.0
self.Iterm = 0.0
self.lastError = None # used for derivative_on_error mode
Expand Down Expand Up @@ -110,9 +113,11 @@ def update(self, i):
if dt>0:
derr = (err - self.lastError) / dt
if self.lastInput:
dinput = (i - self.lastInput) / dt
dinput = i - self.lastInput
dtinput = dinput / dt
else:
dinput = 0
dtinput = 0

# # apply some simple moving average filter to avoid major spikes (used only for D)
# if self.lastDerr:
Expand All @@ -129,14 +134,20 @@ def update(self, i):

# clamp Iterm to [outMin,outMax] and avoid integral windup
self.Iterm = max(self.outMin,min(self.outMax,self.Iterm))

P = self.Kp * err

# compute P-Term
if self.pOnE:
self.Pterm = self.Kp * err
else:
self.Pterm = self.Pterm -self.Kp * dinput

# compute D-Term
if self.derivative_on_error:
D = self.Kd * derr
else:
D = - self.Kd * dinput

output = P + self.Iterm + D
D = - self.Kd * dtinput
output = self.Pterm + self.Iterm + D

output = self.smooth_output(output)

Expand Down Expand Up @@ -167,6 +178,7 @@ def init(self):
self.lastError = 0.0
self.lastTime = None
self.lastDerr = 0.0
self.Pterm = 0.0
if self.lastOutput != None:
self.Iterm = self.lastOutput
else:
Expand All @@ -184,10 +196,11 @@ def setTarget(self, target, init=True):
def getTarget(self):
return self.target

def setPID(self,p,i,d):
def setPID(self,p,i,d,pOnE=True):
self.Kp = max(p,0)
self.Ki = max(i,0)
self.Kd = max(d,0)
self.pOnE = pOnE

def setLimits(self,outMin,outMax):
self.outMin = outMin
Expand Down

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