diff --git a/fhem/CHANGED b/fhem/CHANGED index dc369e447..0acd7b73f 100644 --- a/fhem/CHANGED +++ b/fhem/CHANGED @@ -1,5 +1,7 @@ - =DATE= (=VER=) - feature: smallscreen optimizations for iPhone + - feature: FHT8V rewrite (and moved from contrib into the FHEM directory). + - feature: PID rewrite (and moved from contrib into the FHEM directory). - 2010-08-15 (5.0) - **NOTE*: The default installation path is changed to satisfy lintian diff --git a/fhem/FHEM/98_PID.pm b/fhem/FHEM/98_PID.pm new file mode 100644 index 000000000..c07896468 --- /dev/null +++ b/fhem/FHEM/98_PID.pm @@ -0,0 +1,233 @@ +############################################## +# This module is derived from the contrib/99_PID by Alexander Titzel. + +package main; +use strict; +use warnings; + +sub PID_sv($$$); +sub PID_setValue($); + +########################## +sub +PID_Initialize($) +{ + my ($hash) = @_; + $hash->{DefFn} = "PID_Define"; + $hash->{SetFn} = "PID_Set"; + $hash->{NotifyFn} = "PID_Notify"; + $hash->{AttrList} = "disable:0,1 loglevel:0,1,2,3,4,5,6"; +} + + +########################## +sub +PID_Define($$$) +{ + my ($pid, $def) = @_; + my @a = split("[ \t][ \t]*", $def); + my $n = $a[0]; + + if(@a < 4 || @a > 7) { + my $msg = "wrong syntax: define PID " . + "[:reading:regexp] [:cmd:min:max] [p i d]"; + Log 2, $msg; + return $msg; + } + + ################### + # Sensor + my ($sensor, $reading, $regexp) = split(":", $a[2], 3); + if(!$defs{$sensor}) { + my $msg = "$n: Unknown sensor device $sensor specified"; + Log 2, $msg; + return $msg; + } + $pid->{sensor} = $sensor; + if(!$regexp) { + my $t = $defs{$sensor}{TYPE}; + if($t eq "HMS" || $t eq "CUL_WS") { + $reading = "temperature"; + $regexp = '([\\d\\.]*)'; + } else { + my $msg = "$n: Unknown sensor type $t, specify regexp"; + Log 2, $msg; + return $msg; + } + } + $pid->{reading} = $reading; + $pid->{regexp} = $regexp; + + + ################### + # Actor + my ($actor, $cmd, $min, $max) = split(":", $a[3], 4); + my ($p_p, $p_i, $p_d) = (0, 0, 0); + if(!$defs{$actor}) { + my $msg = "$n: Unknown actor device $actor specified"; + Log 2, $msg; + return $msg; + } + $pid->{actor} = $actor; + if(!$max) { + my $t = $defs{$actor}{TYPE}; + if($t eq "FHT8V") { + $cmd = "valve"; + $min = 0; + $max = 100; + $p_p = 65.0/2.55; + $p_i = 7.8/2.55; + $p_d = 15.0/2.55; + } else { + my $msg = "$n: Unknown actor type $t, specify command:min:max"; + Log 2, $msg; + return $msg; + } + } + $pid->{command} = $cmd; + + $pid->{pFactor} = (@a > 4 ? $a[4] : $p_p); + $pid->{iFactor} = (@a > 5 ? $a[5] : $p_i); + $pid->{dFactor} = (@a > 6 ? $a[6] : $p_d); + $pid->{satMin} = $min; + $pid->{satMax} = $max; + + PID_sv($pid, 'delta', 0.0); + PID_sv($pid, 'actuation', 0.0); + PID_sv($pid, 'integrator', 0.0); + $pid->{STATE} = 'initialized'; + + return undef; +} + +########################## +sub +PID_Set($@) +{ + my ($pid, @a) = @_; + my $n = $pid->{NAME}; + + return "Need a parameter for set" if(@a < 2); + my $arg = $a[1]; + + if($arg eq "factors" ) { + return "Set factors needs 3 parameters (p i d)" if(@a != 5); + $pid->{pFactor} = $a[2]; + $pid->{iFactor} = $a[3]; + $pid->{dFactor} = $a[4]; + # modify DEF, alse save won't work. + my @d = split(' ', $pid->{DEF}); + $pid->{DEF} = "$d[0] $d[1] $a[2] $a[3] $a[4]"; + + } elsif ($arg eq "desired" ) { + return "Set desired needs a numeric parameter" + if(@a != 3 || $a[2] !~ m/^[\d\.]*$/); + Log GetLogLevel($n,3), "PID set $n $arg $a[2]"; + PID_sv($pid, 'desired', $a[2]); + PID_setValue($pid); + + } else { + return "Unknown argument $a[1], choose one of factors desired" + + } + return ""; +} + +########################## +sub +PID_Notify($$) +{ + my ($pid, $dev) = @_; + my $pn = $pid->{NAME}; + + return "" if($attr{$pn} && $attr{$pn}{disable}); + + return if($dev->{NAME} ne $pid->{sensor}); + + my $reading = $pid->{reading}; + my $max = int(@{$dev->{CHANGED}}); + + for (my $i = 0; $i < $max; $i++) { + my $s = $dev->{CHANGED}[$i]; + $s = "" if(!defined($s)); + next if($s !~ m/$reading/); + PID_setValue($pid); + last; + } + return ""; +} + +########################## +sub +PID_saturate($$) +{ + my ($pid, $v) = @_; + return $pid->{satMax} if($v > $pid->{satMax}); + return $pid->{satMin} if($v < $pid->{satMin}); + return $v; +} + +sub +PID_sv($$$) +{ + my ($pid,$name,$val) = @_; + $pid->{READINGS}{$name}{VAL} = $val; + $pid->{READINGS}{$name}{TIME} = TimeNow(); +} + +sub +PID_gv($$) +{ + my ($pid,$name) = @_; + return $pid->{READINGS}{$name}{VAL} + if($pid->{READINGS} && $pid->{READINGS}{$name}); + return undef; +} + + +sub +PID_setValue($) +{ + my ($pid) = @_; + my $n = $pid->{NAME}; + my $sensor = $pid->{sensor}; + my $reading = $pid->{reading}; + my $re = $pid->{regexp}; + + # Get the value from the READING + my $inStr; + $inStr = $defs{$sensor}{READINGS}{$reading}{VAL} + if($defs{$sensor}{READINGS} && $defs{$sensor}{READINGS}{$reading}); + if(!$inStr) { + Log GetLogLevel($n,4), "PID $n: no $reading yet for $sensor"; + return; + } + $inStr =~ m/$re/; + my $in = $1; + + my $desired = PID_gv($pid, 'desired'); + return if(!defined($desired)); + + my $delta = $desired - $in; + my $p = $delta * $pid->{pFactor}; + + my $i = PID_saturate($pid, PID_gv($pid,'integrator')+$delta*$pid->{iFactor}); + PID_sv($pid, 'integrator', $i); + + my $d = ($delta - PID_gv($pid,'delta')) * $pid->{dFactor}; + PID_sv($pid, 'delta', $delta); + + my $a = PID_saturate($pid, $p + $i + $d); + PID_sv($pid, 'actuation', $a); + + Log GetLogLevel($n,4), sprintf("PID $n: p:%.2f i:%.2f d:%.2f", $p, $i, $d); + + # Hack to round. + $a = int($a) if(($pid->{satMax} - $pid->{satMin}) >= 100); + + my $ret = fhem sprintf("set %s %s %g", $pid->{actor}, $pid->{command}, $a); + Log GetLogLevel($n,1), "output of $n command: $ret" if($ret); + $pid->{STATE} = "$in (delta $delta)"; +} + +1; diff --git a/fhem/docs/commandref.html b/fhem/docs/commandref.html index 15a8a2a54..cddc5af0f 100644 --- a/fhem/docs/commandref.html +++ b/fhem/docs/commandref.html @@ -80,13 +80,10 @@ CUL_RFR   CUL_WS   DS18S20   - DbLog   EM   EMEM   EMGZ   EMWZ   - FHEMRENDERER   - FHEMWEB   FHT   FHT8V   FHZ   @@ -114,7 +111,6 @@ WS3600   Weather   X10   - structure   xxLG7000   @@ -123,8 +119,12 @@
Helper modules + +

PID

+
    + The PID device is a loop controller, used to set the value e.g of a heating + valve dependent of the current and desired temperature. +
    +
    + + + Define +
      + define <name> PID sensor[:reading:regexp] actor[:cmd:min:max] [p i d] +

      + + sensor[:reading:regexp] specifies the sensor, which is an + already defined fhem device, e.g. a S300TH temperature sensor. The reading + and regexp fields are necessary only for unknown devices (currently CUL_WS and HMS devices are "known"). + Reading specifies the READINGS field of the sensor, and the regexp extracts + the number from this field. E.g. for the complete definition for a CUL_WS + device is: s300th_dev:temperature:([\d\.]*) +

      + + actor[:cmd:min:max] specifies the actor, which is an + already defined fhem device, e.g. an FHT8V valve. The cmd, min and max + fields are necessary only for unknown devices (currently FHT8V is "known"). cmd specifies the command name for the + actor, min the minimum value and max the maximum value. The complete + definition for an FHT8V device is:fht8v_dev:valve:0:100 +

      + + p, i and d are the parameters use to controlling, see also the this wikipedia entry. + The default values are around 25.5, 3 and 5.88, you probably need to tune + these values. They can be also changed later. +

      + + Examples: +
        + define wz_pid PID wz_th wz_fht8v
        +
      +
    +
    + + + Set +
      +
    • set <name> factors p i d
      + Set the p, i and d factors, as described above. +
      • +
    • set <name> desired <value>
      + Set the desired value (e.g. temperature). Note: until this value is not + set, no command is issued. +
      • +
    +
    + + + Get +
      + N/A +
    +
    + + + Attributes + +
    +
+ +

CUL_FHTTK