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113 lines
3.1 KiB
Perl
113 lines
3.1 KiB
Perl
##############################################
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# This is primary intended to use S300TH/S555TH in conjunction with FHT8v
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# to control room temperature
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# for this I defined the following:
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# define conf_set_value dummy
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# define conf_set_value notify config:pid_set_value { pid_set_value(%) }
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# { pid_create("bz",0.0,255.0) }
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# { pid_set_factors("bz",65.0,7.8,15.0) }
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# define control_bz notify th_sensor_bz {my @@d=split(" ","%");;fhem("set CUL raw T16270126" . sprintf("%%02X", pid("bz",$d[1])))}
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# trigger config:pid_set_value "bz",21.0
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#
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# Alexander Tietzel (Perl newby)
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#
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# TODO:
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# want to have references to the second hash inside %data. Some like
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# %ctrl = ${$data{$name}}...
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# Or better write this as a class and instantiate each controller
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# but I did not discover how to have persistent objects in FHEM
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# so I helped myself with the hash to have multiple instances.
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###############################################
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package main;
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use strict;
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use warnings;
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use Math::Trig;
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sub pid($$);
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sub pid_create($$$);
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sub pid_set_value($$);
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sub pid_set_factors($$$$);
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sub PID_Initialize($);
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# See perldoc DateTime::Event::Sunrise for details
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my %data;
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sub
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PID_Initialize($)
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{
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my ($hash) = @_;
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}
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##########################
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sub pid_create($$$) {
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my $name = shift;
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my $min = shift;
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my $max = shift;
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${$data{$name}}{'last_time'} = 0.0;
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${$data{$name}}{'p_factor'} = 0.0;
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${$data{$name}}{'i_factor'} = 0.0;
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${$data{$name}}{'d_factor'} = 0.0;
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${$data{$name}}{'error'} = 0.0;
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${$data{$name}}{'actuation'} = 0.0;
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${$data{$name}}{'integrator'} = 0.0;
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${$data{$name}}{'set_value'} = 0.0;
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${$data{$name}}{'sat_min'} = $min;
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${$data{$name}}{'sat_max'} = $max;
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return undef;
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}
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sub pid_set_factors($$$$) {
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my $name = shift;
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my $p_factor = shift;
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my $i_factor = shift;
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my $d_factor = shift;
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${$data{$name}}{'p_factor'} = $p_factor;
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${$data{$name}}{'i_factor'} = $i_factor;
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${$data{$name}}{'d_factor'} = $d_factor;
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return undef;
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}
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sub pid_set_value($$) {
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my $name = shift;
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my $set_value = shift;
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${$data{$name}}{'set_value'} = $set_value;
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return undef;
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}
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sub saturate($$) {
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my $name = shift;
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my $v = shift;
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if ( $v > ${$data{$name}}{'sat_max'} ) {
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return ${$data{$name}}{'sat_max'};
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}
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if ( $v < ${$data{$name}}{'sat_min'} ) {
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return ${$data{$name}}{'sat_min'};
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}
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return $v;
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}
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sub pid($$) {
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my $name = shift;
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my $in = shift;
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# Log 1, "PID (" . $name . "): kp: " . ${$data{$name}}{'p_factor'} . " ki: " . ${$data{$name}}{'i_factor'} . " kd: " .${$data{$name}}{'d_factor'};
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my $error = ${$data{$name}}{'set_value'} - $in;
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my $p = $error * ${$data{$name}}{'p_factor'};
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my $i = ${$data{$name}}{'integrator'}+$error*${$data{$name}}{'i_factor'};
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${$data{$name}}{'integrator'} = saturate($name, $i);
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my $d = ($error - ${$data{$name}}{'error'}) * ${$data{$name}}{'d_factor'};
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${$data{$name}}{'error_value'} = $error;
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my $a = $p + ${$data{$name}}{'integrator'} + $d;
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${$data{$name}}{'actuation'} = saturate($name, $a);
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Log 4, sprintf("PID (%s): p: %.2f i: %.2f d: %.2f", $name, $p, ${$data{$name}}{'integrator'}, $d);
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return ${$data{$name}}{'actuation'};
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}
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1;
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