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PID moved from contrib into FHEM
git-svn-id: https://svn.fhem.de/fhem/trunk@726 2b470e98-0d58-463d-a4d8-8e2adae1ed80
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rudolfkoenig
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@ -1,5 +1,7 @@
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- =DATE= (=VER=)
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- feature: smallscreen optimizations for iPhone
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- feature: FHT8V rewrite (and moved from contrib into the FHEM directory).
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- feature: PID rewrite (and moved from contrib into the FHEM directory).
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- 2010-08-15 (5.0)
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- **NOTE*: The default installation path is changed to satisfy lintian
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233
fhem/FHEM/98_PID.pm
Normal file
233
fhem/FHEM/98_PID.pm
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@ -0,0 +1,233 @@
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##############################################
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# This module is derived from the contrib/99_PID by Alexander Titzel.
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package main;
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use strict;
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use warnings;
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sub PID_sv($$$);
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sub PID_setValue($);
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##########################
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sub
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PID_Initialize($)
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{
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my ($hash) = @_;
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$hash->{DefFn} = "PID_Define";
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$hash->{SetFn} = "PID_Set";
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$hash->{NotifyFn} = "PID_Notify";
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$hash->{AttrList} = "disable:0,1 loglevel:0,1,2,3,4,5,6";
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}
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##########################
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sub
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PID_Define($$$)
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{
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my ($pid, $def) = @_;
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my @a = split("[ \t][ \t]*", $def);
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my $n = $a[0];
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if(@a < 4 || @a > 7) {
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my $msg = "wrong syntax: define <name> PID " .
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"<sensor>[:reading:regexp] <actor>[:cmd:min:max] [p i d]";
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Log 2, $msg;
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return $msg;
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}
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###################
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# Sensor
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my ($sensor, $reading, $regexp) = split(":", $a[2], 3);
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if(!$defs{$sensor}) {
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my $msg = "$n: Unknown sensor device $sensor specified";
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Log 2, $msg;
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return $msg;
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}
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$pid->{sensor} = $sensor;
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if(!$regexp) {
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my $t = $defs{$sensor}{TYPE};
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if($t eq "HMS" || $t eq "CUL_WS") {
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$reading = "temperature";
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$regexp = '([\\d\\.]*)';
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} else {
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my $msg = "$n: Unknown sensor type $t, specify regexp";
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Log 2, $msg;
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return $msg;
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}
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}
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$pid->{reading} = $reading;
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$pid->{regexp} = $regexp;
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###################
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# Actor
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my ($actor, $cmd, $min, $max) = split(":", $a[3], 4);
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my ($p_p, $p_i, $p_d) = (0, 0, 0);
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if(!$defs{$actor}) {
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my $msg = "$n: Unknown actor device $actor specified";
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Log 2, $msg;
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return $msg;
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}
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$pid->{actor} = $actor;
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if(!$max) {
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my $t = $defs{$actor}{TYPE};
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if($t eq "FHT8V") {
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$cmd = "valve";
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$min = 0;
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$max = 100;
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$p_p = 65.0/2.55;
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$p_i = 7.8/2.55;
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$p_d = 15.0/2.55;
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} else {
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my $msg = "$n: Unknown actor type $t, specify command:min:max";
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Log 2, $msg;
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return $msg;
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}
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}
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$pid->{command} = $cmd;
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$pid->{pFactor} = (@a > 4 ? $a[4] : $p_p);
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$pid->{iFactor} = (@a > 5 ? $a[5] : $p_i);
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$pid->{dFactor} = (@a > 6 ? $a[6] : $p_d);
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$pid->{satMin} = $min;
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$pid->{satMax} = $max;
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PID_sv($pid, 'delta', 0.0);
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PID_sv($pid, 'actuation', 0.0);
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PID_sv($pid, 'integrator', 0.0);
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$pid->{STATE} = 'initialized';
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return undef;
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}
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##########################
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sub
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PID_Set($@)
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{
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my ($pid, @a) = @_;
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my $n = $pid->{NAME};
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return "Need a parameter for set" if(@a < 2);
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my $arg = $a[1];
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if($arg eq "factors" ) {
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return "Set factors needs 3 parameters (p i d)" if(@a != 5);
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$pid->{pFactor} = $a[2];
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$pid->{iFactor} = $a[3];
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$pid->{dFactor} = $a[4];
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# modify DEF, alse save won't work.
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my @d = split(' ', $pid->{DEF});
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$pid->{DEF} = "$d[0] $d[1] $a[2] $a[3] $a[4]";
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} elsif ($arg eq "desired" ) {
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return "Set desired needs a numeric parameter"
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if(@a != 3 || $a[2] !~ m/^[\d\.]*$/);
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Log GetLogLevel($n,3), "PID set $n $arg $a[2]";
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PID_sv($pid, 'desired', $a[2]);
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PID_setValue($pid);
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} else {
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return "Unknown argument $a[1], choose one of factors desired"
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}
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return "";
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}
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##########################
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sub
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PID_Notify($$)
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{
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my ($pid, $dev) = @_;
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my $pn = $pid->{NAME};
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return "" if($attr{$pn} && $attr{$pn}{disable});
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return if($dev->{NAME} ne $pid->{sensor});
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my $reading = $pid->{reading};
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my $max = int(@{$dev->{CHANGED}});
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for (my $i = 0; $i < $max; $i++) {
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my $s = $dev->{CHANGED}[$i];
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$s = "" if(!defined($s));
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next if($s !~ m/$reading/);
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PID_setValue($pid);
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last;
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}
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return "";
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}
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##########################
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sub
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PID_saturate($$)
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{
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my ($pid, $v) = @_;
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return $pid->{satMax} if($v > $pid->{satMax});
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return $pid->{satMin} if($v < $pid->{satMin});
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return $v;
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}
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sub
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PID_sv($$$)
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{
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my ($pid,$name,$val) = @_;
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$pid->{READINGS}{$name}{VAL} = $val;
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$pid->{READINGS}{$name}{TIME} = TimeNow();
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}
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sub
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PID_gv($$)
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{
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my ($pid,$name) = @_;
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return $pid->{READINGS}{$name}{VAL}
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if($pid->{READINGS} && $pid->{READINGS}{$name});
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return undef;
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}
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sub
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PID_setValue($)
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{
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my ($pid) = @_;
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my $n = $pid->{NAME};
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my $sensor = $pid->{sensor};
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my $reading = $pid->{reading};
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my $re = $pid->{regexp};
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# Get the value from the READING
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my $inStr;
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$inStr = $defs{$sensor}{READINGS}{$reading}{VAL}
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if($defs{$sensor}{READINGS} && $defs{$sensor}{READINGS}{$reading});
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if(!$inStr) {
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Log GetLogLevel($n,4), "PID $n: no $reading yet for $sensor";
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return;
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}
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$inStr =~ m/$re/;
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my $in = $1;
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my $desired = PID_gv($pid, 'desired');
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return if(!defined($desired));
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my $delta = $desired - $in;
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my $p = $delta * $pid->{pFactor};
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my $i = PID_saturate($pid, PID_gv($pid,'integrator')+$delta*$pid->{iFactor});
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PID_sv($pid, 'integrator', $i);
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my $d = ($delta - PID_gv($pid,'delta')) * $pid->{dFactor};
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PID_sv($pid, 'delta', $delta);
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my $a = PID_saturate($pid, $p + $i + $d);
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PID_sv($pid, 'actuation', $a);
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Log GetLogLevel($n,4), sprintf("PID $n: p:%.2f i:%.2f d:%.2f", $p, $i, $d);
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# Hack to round.
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$a = int($a) if(($pid->{satMax} - $pid->{satMin}) >= 100);
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my $ret = fhem sprintf("set %s %s %g", $pid->{actor}, $pid->{command}, $a);
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Log GetLogLevel($n,1), "output of $n command: $ret" if($ret);
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$pid->{STATE} = "$in (delta $delta)";
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}
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1;
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@ -80,13 +80,10 @@
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<a href="#CUL_RFR">CUL_RFR</a>
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<a href="#CUL_WS">CUL_WS</a>
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<a href="#DS18S20">DS18S20</a>
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<a href="#DbLog">DbLog</a>
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<a href="#EM">EM</a>
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<a href="#EMEM">EMEM</a>
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<a href="#EMGZ">EMGZ</a>
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<a href="#EMWZ">EMWZ</a>
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<a href="#FHEMRENDERER">FHEMRENDERER</a>
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<a href="#FHEMWEB">FHEMWEB</a>
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<a href="#FHT">FHT</a>
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<a href="#FHT8V">FHT8V</a>
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<a href="#FHZ">FHZ</a>
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@ -114,7 +111,6 @@
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<a href="#WS3600">WS3600</a>
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<a href="#Weather">Weather</a>
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<a href="#X10">X10</a>
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<a href="#structure">structure</a>
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<a href="#xxLG7000">xxLG7000</a>
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@ -123,8 +119,12 @@
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<br>
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<b>Helper modules</b>
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<ul>
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<a href="#DbLog">DbLog</a>
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<a href="#FHEMRENDERER">FHEMRENDERER</a>
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<a href="#FHEMWEB">FHEMWEB</a>
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<a href="#FileLog">FileLog</a>
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<a href="#PachLog">PachLog</a>
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<a href="#PID">PID</a>
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<a href="#SUNRISE_EL">SUNRISE_EL</a>
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<a href="#at">at</a>
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<a href="#autocreate">autocreate</a>
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@ -132,6 +132,7 @@
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<a href="#dumpdef">dumpdef</a>
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<a href="#holiday">holiday</a>
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<a href="#notify">notify</a>
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<a href="#structure">structure</a>
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<a href="#watchdog">watchdog</a>
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<a href="#weblink">weblink</a>
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@ -1618,6 +1619,80 @@ A line ending with \ will be concatenated with the next one, so long lines
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</ul>
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<a name="PID"></a>
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<h3>PID</h3>
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<ul>
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The PID device is a loop controller, used to set the value e.g of a heating
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valve dependent of the current and desired temperature.
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<br>
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<br>
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<a name="FHT8Vdefine"></a>
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<b>Define</b>
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<ul>
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<code>define <name> PID sensor[:reading:regexp] actor[:cmd:min:max] [p i d]</code>
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<br><br>
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<code>sensor[:reading:regexp]</code> specifies the sensor, which is an
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already defined fhem device, e.g. a S300TH temperature sensor. The reading
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and regexp fields are necessary only for unknown devices (currently <a
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href="#CUL_WS">CUL_WS</a> and <a href="#HMS">HMS</a> devices are "known").
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Reading specifies the READINGS field of the sensor, and the regexp extracts
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the number from this field. E.g. for the complete definition for a CUL_WS
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device is: <code>s300th_dev:temperature:([\d\.]*)</code>
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<br><br>
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<code>actor[:cmd:min:max]</code> specifies the actor, which is an
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already defined fhem device, e.g. an FHT8V valve. The cmd, min and max
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fields are necessary only for unknown devices (currently <a
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href="#FHT8V">FHT8V</a> is "known"). cmd specifies the command name for the
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actor, min the minimum value and max the maximum value. The complete
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definition for an FHT8V device is:<code>fht8v_dev:valve:0:100</code>
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<br><br>
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p, i and d are the parameters use to controlling, see also the <a
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href="http://de.wikipedia.org/wiki/Regler">this</a> wikipedia entry.
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The default values are around 25.5, 3 and 5.88, you probably need to tune
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these values. They can be also changed later.
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<br><br>
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Examples:
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<ul>
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<code>define wz_pid PID wz_th wz_fht8v</code><br>
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</ul>
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</ul>
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<br>
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<a name="PIDset"></a>
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<b>Set </b>
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<ul>
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<li>set <name> factors p i d<br>
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Set the p, i and d factors, as described above.
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</li>
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<li>set <name> desired <value><br>
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Set the desired value (e.g. temperature). Note: until this value is not
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set, no command is issued.
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</li>
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</ul>
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<br>
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<a name="FHT8Vget"></a>
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<b>Get </b>
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<ul>
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N/A
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</ul>
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<br>
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<a name="FHT8Vattr"></a>
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<b>Attributes</b>
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<ul>
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<li><a href="#disable">disable</a></li>
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<li><a href="#loglevel">loglevel</a></li>
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</ul>
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<br>
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</ul>
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<a name="CUL_FHTTK"></a>
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<h3>CUL_FHTTK</h3>
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