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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| #include "pi_controller.h" | ||
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| namespace dentra { | ||
| namespace tion { | ||
| namespace auto_co2 { | ||
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| void PIController::reset(float kp, float ti, int db) { | ||
| this->kp_ = kp; | ||
| this->ti_ = ti; | ||
| this->db_ = db; | ||
| this->reset(); | ||
| } | ||
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| void PIController::reset(float kp, float ti, int db, float min, float max) { | ||
| this->kp_ = kp; | ||
| this->ti_ = ti; | ||
| this->db_ = db; | ||
| this->v_oa_min_ = min; | ||
| this->v_oa_max_ = max; | ||
| this->reset(); | ||
| } | ||
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| float PIController::update(int setpoint, int current) { | ||
| // 7: error from setpoint [ppm] | ||
| const auto e = setpoint - current; | ||
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| // 8: error from setpoint, including dead band [ppm] | ||
| const auto e_db = // | ||
| /**/ current < setpoint - this->db_ ? e - this->db_ : | ||
| /**/ current > setpoint + this->db_ ? e + this->db_ | ||
| : 0; | ||
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| // 9: integral error [min.ppm-CO2] | ||
| const float i = this->ib_ + (this->dt_() / 60.0f) * e_db; | ||
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| // 10: candidate outdoor airflow rate [L/s] | ||
| const float v_oa_c = -this->kp_ * (e_db + (i / this->ti_)); | ||
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| // 11: integral error with anti-integral windup [min.ppm-CO2] | ||
| if (v_oa_c < this->v_oa_min_) { | ||
| this->ib_ = -this->ti_ * (e_db + (this->v_oa_min_ / this->kp_)); | ||
| } else if (v_oa_c > this->v_oa_max_) { | ||
| this->ib_ = -this->ti_ * (e_db + (this->v_oa_max_ / this->kp_)); | ||
| } else { | ||
| this->ib_ = i; | ||
| } | ||
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| // 12: outdoor airflow rate [L/s] | ||
| const float v_oa = -this->kp_ * (e_db + (this->ib_ / this->ti_)); | ||
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| return v_oa; | ||
| } | ||
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| } // namespace auto_co2 | ||
| } // namespace tion | ||
| } // namespace dentra |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| #pragma once | ||
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| #include <cstdint> | ||
| #include <cmath> | ||
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| #include "utils.h" | ||
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| namespace dentra { | ||
| namespace tion { | ||
| namespace auto_co2 { | ||
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| /// @brief PI Controller. | ||
| /// @link https://www.sciencedirect.com/science/article/pii/S0378778823009477 | ||
| class PIController { | ||
| public: | ||
| /// @param kp proportional gain [L/s.ppm-CO2] | ||
| /// @param ti integral gain [min] | ||
| /// @param db dead band [ppm] | ||
| /// @param v_oa_min minimum outdoor airflow rate [L/s] | ||
| /// @param v_oa_max maximum outdoor airflow rate [L/s] | ||
| PIController(float kp, float ti, int db = 0, float min = NAN, float max = NAN) | ||
| : kp_(kp), ti_(ti), db_(db), v_oa_min_(min), v_oa_max_(max) {} | ||
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| /// @param setpoint CO2 setpoint [ppm] | ||
| /// @param current CO2 concentration [ppm] | ||
| /// @return outdoor airflow rate [L/s] | ||
| float update(int setpoint, int current); | ||
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| void set_min(float min) { this->v_oa_min_ = min; } | ||
| void set_max(float max) { this->v_oa_min_ = max; } | ||
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| /// @brief Resets integral error. | ||
| void reset() { this->ib_ = 0; } | ||
| /// @brief Resets Kp, Ti, db without touching min and max | ||
| void reset(float kp, float ti, int db); | ||
| void reset(float kp, float ti, int db, float min, float max); | ||
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| protected: | ||
| /// proportional gain [L/s.ppm-CO2] | ||
| float kp_; | ||
| /// integral gain [min] | ||
| float ti_; | ||
| /// dead band [ppm] | ||
| int db_; | ||
| /// minimum outdoor airflow rate [L/s] | ||
| float v_oa_min_; | ||
| /// maximum outdoor airflow rate [L/s] | ||
| float v_oa_max_; | ||
| /// integral error with anti-integral windup [min.ppm-CO2]. | ||
| float ib_{}; | ||
| /// last time used in dt_() calculation. | ||
| uint32_t last_time_{}; | ||
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| /// time step [s]. | ||
| float dt_() { | ||
| const auto now = tion::millis(); | ||
| const float dt = this->last_time_ == 0 ? 0.0f : (now - this->last_time_) * 0.001f; | ||
| this->last_time_ = now; | ||
| return dt; | ||
| } | ||
| }; | ||
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| } // namespace auto_co2 | ||
| } // namespace tion | ||
| } // namespace dentra |
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