mirror of
https://github.com/fhem/fhem-mirror.git
synced 2025-02-01 01:09:47 +00:00
849 lines
31 KiB
Perl
849 lines
31 KiB
Perl
# $Id$
|
|
####################################################################################################
|
|
#
|
|
# 98_PID20.pm
|
|
# 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.
|
|
#
|
|
# This module is derived from the contrib/99_PID by Alexander Titzel.
|
|
# The framework of the module is derived from proposals by betateilchen.
|
|
#
|
|
# This file is part of fhem.
|
|
#
|
|
# Fhem is free software: you can redistribute it and/or modify
|
|
# it under the terms of the GNU General Public License as published by
|
|
# the Free Software Foundation, either version 2 of the License, or
|
|
# (at your option) any later version.
|
|
#
|
|
# Fhem is distributed in the hope that it will be useful,
|
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
# GNU General Public License for more details.
|
|
#
|
|
# You should have received a copy of the GNU General Public License
|
|
# along with fhem. If not, see <http://www.gnu.org/licenses/>.
|
|
#
|
|
#
|
|
# V 1.00.c
|
|
# 03.12.2013 - bugfix : pidActorLimitUpper wrong assignment
|
|
# V 1.00.d
|
|
# 09.12.2013 - verbose-level adjusted
|
|
# 20.12.2013 - bugfix: actorErrorPos: wrong assignment by pidCalcInterval-attribute, if defined
|
|
# V 1.00.e
|
|
# 01.01.2014 - fix: {helper}{actorCommand} assigned to an emptry string if not defined
|
|
# V 1.00.f
|
|
# 22.01.2014 fix:pidDeltaTreshold only int was assignable, now even float
|
|
# V 1.00.g
|
|
# 29.01.2014 fix:calculation of i-portion is independent from pidCalcInterval
|
|
# V 1.00.h
|
|
# 26.02.2014 fix:new logging format; adjusting verbose-levels
|
|
#
|
|
# 26.03.2014 (betateilchen)
|
|
# code review, pod added, removed old version info (will be provided via SVN)
|
|
|
|
####################################################################################################
|
|
package main;
|
|
use strict;
|
|
use warnings;
|
|
use feature qw/say switch/;
|
|
use vars qw(%defs);
|
|
use vars qw($readingFnAttributes);
|
|
use vars qw(%attr);
|
|
use vars qw(%modules);
|
|
|
|
sub PID20_Calc($);
|
|
|
|
########################################
|
|
sub PID20_Log($$$)
|
|
{
|
|
my ( $hash, $loglevel, $text ) = @_;
|
|
my $xline = (caller(0))[2];
|
|
|
|
my $xsubroutine = (caller(1))[3];
|
|
my $sub = (split( ':', $xsubroutine ))[2];
|
|
$sub = substr ($sub, 6); # without PID20
|
|
|
|
my $instName = ( ref($hash) eq "HASH" ) ? $hash->{NAME} : "PID20";
|
|
Log3 $hash, $loglevel, "PID20 $instName: $sub.$xline " . $text;
|
|
}
|
|
|
|
########################################
|
|
sub PID20_Initialize($)
|
|
{
|
|
my ($hash) = @_;
|
|
$hash->{DefFn} = "PID20_Define";
|
|
$hash->{UndefFn} = "PID20_Undef";
|
|
$hash->{SetFn} = "PID20_Set";
|
|
$hash->{GetFn} = "PID20_Get";
|
|
$hash->{NotifyFn} = "PID20_Notify";
|
|
$hash->{AttrList} =
|
|
"pidActorValueDecPlaces:0,1,2,3,4,5 "
|
|
. "pidActorInterval "
|
|
. "pidActorTreshold "
|
|
. "pidActorErrorAction:freeze,errorPos "
|
|
. "pidActorErrorPos "
|
|
. "pidActorKeepAlive "
|
|
. "pidActorLimitLower "
|
|
. "pidActorLimitUpper "
|
|
. "pidCalcInterval "
|
|
. "pidDeltaTreshold "
|
|
. "pidDesiredName "
|
|
. "pidFactor_P "
|
|
. "pidFactor_I "
|
|
. "pidFactor_D "
|
|
. "pidMeasuredName "
|
|
. "pidSensorTimeout "
|
|
. "pidReverseAction "
|
|
. "pidUpdateInterval "
|
|
# . "pidDebugEnable:0,1 ";
|
|
. "pidDebugSensor:0,1 "
|
|
. "pidDebugActuation:0,1 "
|
|
. "pidDebugCalc:0,1 "
|
|
. "pidDebugDelta:0,1 "
|
|
. "pidDebugUpdate:0,1 "
|
|
. "pidDebugNotify:0,1 "
|
|
|
|
. "disable:0,1 "
|
|
. $readingFnAttributes;
|
|
|
|
}
|
|
|
|
|
|
########################################
|
|
sub PID20_TimeDiff($) {
|
|
my ($strTS)=@_;
|
|
#my ( $package, $filename, $line ) = caller(0);
|
|
#print "PID $strTS line $line \n";
|
|
|
|
my $serTS = (defined($strTS) && $strTS ne "") ? time_str2num($strTS) : gettimeofday();
|
|
my $timeDiff = gettimeofday()- $serTS;
|
|
$timeDiff=0 if ( $timeDiff<0);
|
|
return $timeDiff;
|
|
}
|
|
|
|
########################################
|
|
sub PID20_Define($$$)
|
|
{
|
|
my ( $hash, $def ) = @_;
|
|
my @a = split( "[ \t][ \t]*", $def );
|
|
my $name = $a[0];
|
|
my $reFloat ='^([\\+,\\-]?\\d+\\.?\d*$)'; # gleitpunkt
|
|
|
|
if ( @a != 4)
|
|
{
|
|
return "wrong syntax: define <name> PID20 " . "<sensor>:reading:[regexp] <actor>[:cmd] ";
|
|
}
|
|
###################
|
|
# Sensor
|
|
my ( $sensor, $reading, $regexp ) = split( ":", $a[2], 3 );
|
|
|
|
# if sensor unkonwn
|
|
if ( !$defs{$sensor} )
|
|
{
|
|
my $msg = "$name: Unknown sensor device $sensor specified";
|
|
PID20_Log $hash, 1, $msg;
|
|
return $msg;
|
|
}
|
|
|
|
# if reading of sender is unkown
|
|
if (ReadingsVal($sensor,$reading,'unknown') eq 'unkown')
|
|
{
|
|
my $msg = "$name: Unknown reading $reading for sensor device $sensor specified";
|
|
PID20_Log $hash, 1, $msg;
|
|
return $msg;
|
|
}
|
|
|
|
$hash->{helper}{sensor} = $sensor;
|
|
|
|
# defaults for regexp
|
|
if ( !$regexp )
|
|
{
|
|
$regexp=$reFloat;
|
|
}
|
|
|
|
$hash->{helper}{reading} = $reading;
|
|
$hash->{helper}{regexp} = $regexp;
|
|
|
|
# Actor
|
|
my ( $actor, $cmd ) = split( ":", $a[3],2 );
|
|
|
|
if ( !$defs{$actor} )
|
|
{
|
|
my $msg = "$name: Unknown actor device $actor specified";
|
|
PID20_Log $hash, 1, $msg;
|
|
return $msg;
|
|
}
|
|
|
|
$hash->{helper}{actor} = $actor;
|
|
$hash->{helper}{actorCommand}= (defined ($cmd)) ? $cmd :"";
|
|
$hash->{helper}{stopped}=0;
|
|
$hash->{helper}{adjust}="";
|
|
|
|
$modules{PID20}{defptr}{$name}=$hash;
|
|
|
|
readingsSingleUpdate( $hash, 'state', 'initializing',1 );
|
|
|
|
RemoveInternalTimer($name);
|
|
InternalTimer( gettimeofday() + 10, "PID20_Calc", $name, 0 );
|
|
return undef;
|
|
}
|
|
########################################
|
|
sub PID20_Undef($$)
|
|
{
|
|
my ( $hash, $arg ) = @_;
|
|
RemoveInternalTimer($hash->{NAME});
|
|
return undef;
|
|
}
|
|
sub
|
|
########################################
|
|
# we need a gradient for delta as base for d-portion calculation
|
|
#
|
|
PID20_Notify($$)
|
|
{
|
|
my ($hash, $dev) = @_;
|
|
my $name = $hash->{NAME};
|
|
my $sensorName = $hash->{helper}{sensor};
|
|
|
|
my $DEBUG = AttrVal($name, 'pidDebugNotify', '0' ) eq '1';
|
|
|
|
|
|
# no action if disabled
|
|
if (defined($attr{$name}) && defined($attr{$name}{disable}) )
|
|
{
|
|
$hash->{helper}{sensorTsOld}=undef;
|
|
return "" ;
|
|
}
|
|
|
|
return if($dev->{NAME} ne $sensorName);
|
|
|
|
my $sensorReadingName = $hash->{helper}{reading};
|
|
my $regexp = $hash->{helper}{regexp};
|
|
my $desiredName = AttrVal( $name, 'pidDesiredName', 'desired' );
|
|
my $desired = ReadingsVal( $name,$desiredName, undef );
|
|
|
|
my $max = int(@{$dev->{CHANGED}});
|
|
PID20_Log $hash, 4, "check $max readings for ". $sensorReadingName;
|
|
|
|
for (my $i = 0; $i < $max; $i++) {
|
|
my $s = $dev->{CHANGED}[$i];
|
|
|
|
# continue, if no match with reading-name
|
|
$s = "" if(!defined($s));
|
|
PID20_Log $hash, 5, "check event:<$s>";
|
|
next if($s !~ m/$sensorReadingName/);
|
|
|
|
# ---- build difference current - old value
|
|
# get sensor value
|
|
|
|
my $sensorStr = ReadingsVal( $sensorName, $sensorReadingName, undef );
|
|
$sensorStr =~ m/$regexp/;
|
|
my $sensorValue = $1;
|
|
|
|
# calc difference of delta/deltaOld
|
|
my $delta = $desired - $sensorValue if (defined($desired));
|
|
my $deltaOld = ($hash->{helper}{deltaOld}+0) if (defined($hash->{helper}{deltaOld}));
|
|
|
|
my $deltaDiff = ($delta - $deltaOld) if (defined($delta) && defined($deltaOld));
|
|
PID20_Log $hash, 5, "Diff: delta[".sprintf( "%.2f",$delta)."]"
|
|
." - deltaOld[".sprintf( "%.2f",$deltaOld)."]"
|
|
."= Diff[".sprintf( "%.2f",$deltaDiff)."]"
|
|
if ($DEBUG);
|
|
|
|
# ----- build difference of timestamps (ok)
|
|
my $deltaOldTsStr = $hash->{helper}{deltaOldTS};
|
|
my $deltaOldTsNum =time_str2num($deltaOldTsStr) if (defined($deltaOldTsStr));
|
|
my $nowTsNum = gettimeofday();
|
|
my $tsDiff = ($nowTsNum - $deltaOldTsNum)
|
|
if ( defined($deltaOldTsNum) && (($nowTsNum - $deltaOldTsNum)>0));
|
|
PID20_Log $hash, 5, "tsDiff: tsDiff = $tsDiff " if ($DEBUG);
|
|
|
|
# ----- calculate gradient of delta
|
|
my $deltaGradient =$deltaDiff/$tsDiff if(defined($deltaDiff) && defined($tsDiff) && ($tsDiff>0));
|
|
$deltaGradient = 0 if (!defined($deltaGradient));
|
|
|
|
my $sdeltaDiff = ($deltaDiff)?sprintf( "%.2f",$deltaDiff):"";
|
|
my $sTSDiff = ($tsDiff)?sprintf( "%.2f",$tsDiff):"";
|
|
my $sDeltaGradient=($deltaGradient)?sprintf( "%.6f",$deltaGradient):"";
|
|
PID20_Log $hash, 5, "deltaGradient: (Diff[$sdeltaDiff]"
|
|
."/tsDiff[$sTSDiff]"
|
|
."=deltaGradient per sec [$sDeltaGradient]" if ($DEBUG);
|
|
|
|
# ----- store results
|
|
$hash->{helper}{deltaGradient}=$deltaGradient;
|
|
$hash->{helper}{deltaOld}= $delta;
|
|
$hash->{helper}{deltaOldTS}= TimeNow();
|
|
|
|
last;
|
|
}
|
|
return "";
|
|
}
|
|
########################################
|
|
sub PID20_Get($@)
|
|
{
|
|
my ( $hash, @a ) = @_;
|
|
my $name = $hash->{NAME};
|
|
my $usage = "Unknown argument $a[1], choose one of params:noArg";
|
|
return $usage if ( @a < 2 );
|
|
my $cmd = lc( $a[1] );
|
|
given ($cmd)
|
|
{
|
|
when ('params')
|
|
{
|
|
my $ret = "Defined parameters for PID20 $name:\n\n";
|
|
$ret .= 'Actor name : ' . $hash->{helper}{actor} . "\n";
|
|
$ret .= 'Actor cmd : ' . $hash->{helper}{actorCommand} . "\n\n";
|
|
$ret .= 'Sensor name : ' . $hash->{helper}{sensor} . "\n";
|
|
$ret .= 'Sensor reading : ' . $hash->{helper}{reading} . "\n\n";
|
|
$ret .= 'Sensor regexp : ' . $hash->{helper}{regexp} . "\n\n";
|
|
$ret .= 'Factor P : ' . $hash->{helper}{factor_P} . "\n";
|
|
$ret .= 'Factor I : ' . $hash->{helper}{factor_I} . "\n";
|
|
$ret .= 'Factor D : ' . $hash->{helper}{factor_D} . "\n\n";
|
|
$ret .= 'Actor lower limit: ' . $hash->{helper}{actorLimitLower} . "\n";
|
|
$ret .= 'Actor upper limit: ' . $hash->{helper}{actorLimitUpper} . "\n";
|
|
return $ret;
|
|
}
|
|
default { return $usage; };
|
|
}
|
|
}
|
|
########################################
|
|
sub PID20_Set($@)
|
|
{
|
|
my ( $hash, @a ) = @_;
|
|
my $name = $hash->{NAME};
|
|
my $reFloat ='^([\\+,\\-]?\\d+\\.?\d*$)';
|
|
|
|
my $usage =
|
|
"Unknown argument $a[1], choose one of stop:noArg start:noArg restart "
|
|
. AttrVal( $name, 'pidDesiredName', 'desired' );
|
|
return $usage if ( @a < 2 );
|
|
|
|
my $cmd = lc( $a[1] );
|
|
my $desiredName = lc(AttrVal( $name, 'pidDesiredName', 'desired' ));
|
|
#PID20_Log $hash, 3, "name:$name cmd:$cmd $desired:$desired";
|
|
|
|
given ($cmd)
|
|
{
|
|
when ("?")
|
|
{
|
|
return $usage;
|
|
}
|
|
|
|
when ( $desiredName )
|
|
{
|
|
return "Set " . AttrVal( $name, 'pidDesiredName', 'desired' ) . " needs a <value> parameter"
|
|
if ( @a != 3 );
|
|
|
|
my $value=$a[2];
|
|
$value=($value=~ m/$reFloat/) ? $1:undef;
|
|
return "value ".$a[2]." is not a number"
|
|
if (!defined($value));
|
|
|
|
readingsSingleUpdate( $hash, $cmd, $value, 1 );
|
|
PID20_Log $hash, 3, "set $name $cmd $a[2]";
|
|
}
|
|
|
|
when ("start")
|
|
{
|
|
return "Set start needs a <value> parameter"
|
|
if ( @a != 2 );
|
|
$hash->{helper}{stopped} =0;
|
|
|
|
}
|
|
|
|
when ("stop")
|
|
{
|
|
return "Set stop needs a <value> parameter"
|
|
if ( @a != 2 );
|
|
$hash->{helper}{stopped} =1;
|
|
PID20_Calc($hash);
|
|
}
|
|
|
|
when ("restart")
|
|
{
|
|
return "Set restart needs a <value> parameter"
|
|
if ( @a != 3 );
|
|
|
|
my $value=$a[2];
|
|
$value=($value=~ m/$reFloat/) ? $1:undef;
|
|
#PID20_Log $hash, 1, "value:$value";
|
|
|
|
return "value ".$a[2]." is not a number"
|
|
if (!defined($value));
|
|
|
|
$hash->{helper}{stopped} =0;
|
|
$hash->{helper}{adjust} =$value;
|
|
PID20_Log $hash, 3, "set $name $cmd $value";
|
|
}
|
|
|
|
when ("calc") # inofficial function, only for debugging purposes
|
|
{
|
|
PID20_Calc($hash);
|
|
}
|
|
|
|
default
|
|
{
|
|
return $usage;
|
|
}
|
|
}
|
|
return;
|
|
}
|
|
|
|
########################################
|
|
# disabled = 0
|
|
# idle = 1
|
|
# processing = 2
|
|
# stopped = 3
|
|
# alarm = 4
|
|
sub PID20_Calc($)
|
|
{
|
|
my $reUINT = '^([\\+]?\\d+)$'; # uint without whitespaces
|
|
my $re01 = '^([0,1])$'; # only 0,1
|
|
my $reINT = '^([\\+,\\-]?\\d+$)'; # int
|
|
my $reFloatpos ='^([\\+]?\\d+\\.?\d*$)'; # gleitpunkt positiv
|
|
my $reFloat ='^([\\+,\\-]?\\d+\\.?\d*$)'; # gleitpunkt
|
|
|
|
my ($name) = @_;
|
|
my $hash = $defs{$name};
|
|
|
|
my $sensor = $hash->{helper}{sensor};
|
|
my $reading = $hash->{helper}{reading};
|
|
my $regexp = $hash->{helper}{regexp};
|
|
|
|
my $DEBUG_Sensor = AttrVal($name, 'pidDebugSensor', '0' ) eq '1';
|
|
my $DEBUG_Actuation = AttrVal($name, 'pidDebugActuation', '0' ) eq '1';
|
|
my $DEBUG_Delta = AttrVal($name, 'pidDebugDelta', '0' ) eq '1';
|
|
my $DEBUG_Calc = AttrVal($name, 'pidDebugCalc', '0' ) eq '1';
|
|
my $DEBUG_Update = AttrVal($name, 'pidDebugUpdate', '0' ) eq '1';
|
|
|
|
my $DEBUG = $DEBUG_Sensor || $DEBUG_Actuation || $DEBUG_Calc || $DEBUG_Delta || $DEBUG_Update ;
|
|
|
|
my $actuation = "";
|
|
my $actuationDone = ReadingsVal( $name, 'actuation', "" );
|
|
my $actuationCalc = ReadingsVal( $name, 'actuationCalc', "" );
|
|
my $actuationCalcOld = $actuationCalc;
|
|
my $actorTimestamp = ($hash->{helper}{actorTimestamp})
|
|
?$hash->{helper}{actorTimestamp}:FmtDateTime(gettimeofday()-3600*24);
|
|
|
|
my $sensorStr = ReadingsVal( $sensor, $reading, "" );
|
|
my $sensorValue = "";
|
|
my $sensorTS = ReadingsTimestamp( $sensor, $reading, undef );
|
|
my $sensorIsAlive = 0;
|
|
|
|
my $iPortion = ReadingsVal( $name, 'p_i', 0 );
|
|
my $pPortion = "";
|
|
my $dPortion = "";
|
|
|
|
my $stateStr = "";
|
|
|
|
my $deltaOld = ReadingsVal( $name, 'delta', 0 );
|
|
my $delta = "";
|
|
my $deltaGradient = ($hash->{helper}{deltaGradient})?$hash->{helper}{deltaGradient}:0;
|
|
|
|
my $calcReq = 0;
|
|
|
|
# ---------------- check different conditions
|
|
while (1)
|
|
{
|
|
# --------------- retrive values from attributes
|
|
|
|
$hash->{helper}{actorInterval} = (AttrVal($name, 'pidActorInterval', 180 ) =~ m/$reUINT/) ? $1:180;
|
|
$hash->{helper}{actorThreshold} = (AttrVal($name, 'pidActorTreshold', 1 ) =~ m/$reUINT/) ? $1:1;
|
|
$hash->{helper}{actorKeepAlive} = (AttrVal($name, 'pidActorKeepAlive', 1800 ) =~ m/$reUINT/) ? $1:1800;
|
|
$hash->{helper}{actorValueDecPlaces} = (AttrVal($name, 'pidActorValueDecPlaces', 0 ) =~ m/$reUINT/) ? $1:0;
|
|
|
|
$hash->{helper}{actorErrorAction} = (AttrVal($name, 'pidActorErrorAction', 'freeze') eq 'errorPos') ?'errorPos':'freeze';
|
|
$hash->{helper}{actorErrorPos} = (AttrVal($name, 'pidActorErrorPos', 0 ) =~ m/$reINT/) ? $1:0;
|
|
|
|
|
|
$hash->{helper}{calcInterval} = (AttrVal($name, 'pidCalcInterval', 60 ) =~ m/$reUINT/) ? $1:60;
|
|
$hash->{helper}{deltaTreshold} = (AttrVal($name, 'pidDeltaTreshold', 0 ) =~ m/$reFloatpos/) ? $1:0;
|
|
$hash->{helper}{disable} = (AttrVal($name, 'Disable', 0 ) =~ m/$re01/) ? $1:'';
|
|
|
|
$hash->{helper}{sensorTimeout} = (AttrVal($name, 'pidSensorTimeout', 3600 ) =~ m/$reUINT/) ? $1:3600;
|
|
$hash->{helper}{reverseAction} = (AttrVal($name, 'pidReverseAction', 0 ) =~ m/$re01/) ? $1:0;
|
|
$hash->{helper}{updateInterval} = (AttrVal($name, 'pidUpdateInterval', 600 ) =~ m/$reUINT/) ? $1:600;
|
|
|
|
$hash->{helper}{measuredName} = AttrVal($name, 'pidMeasuredName', 'measured') ;
|
|
$hash->{helper}{desiredName} = AttrVal($name, 'pidDesiredName', 'desired') ;
|
|
|
|
$hash->{helper}{actorLimitLower} = (AttrVal($name, 'pidActorLimitLower', 0) =~ m/$reFloat/) ? $1:0;
|
|
my $actorLimitLower = $hash->{helper}{actorLimitLower};
|
|
|
|
$hash->{helper}{actorLimitUpper} = (AttrVal($name, 'pidActorLimitUpper', 100) =~ m/$reFloat/) ? $1:100;
|
|
my $actorLimitUpper = $hash->{helper}{actorLimitUpper};
|
|
|
|
$hash->{helper}{factor_P} = (AttrVal($name, 'pidFactor_P', 25) =~ m/$reFloatpos/) ? $1:25;
|
|
$hash->{helper}{factor_I} = (AttrVal($name, 'pidFactor_I', 0.25) =~ m/$reFloatpos/) ? $1:0.25;
|
|
$hash->{helper}{factor_D} = (AttrVal($name, 'pidFactor_D', 0) =~ m/$reFloatpos/) ? $1:0;
|
|
|
|
if ($hash->{helper}{disable})
|
|
{
|
|
$stateStr="disabled";
|
|
last;
|
|
}
|
|
|
|
if ($hash->{helper}{stopped})
|
|
{
|
|
$stateStr="stopped";
|
|
last;
|
|
}
|
|
|
|
my $desired = ReadingsVal( $name,$hash->{helper}{desiredName}, "" );
|
|
|
|
# sensor found
|
|
PID20_Log $hash, 2, "--------------------------" if ($DEBUG);
|
|
PID20_Log $hash, 2, "S1 sensorStr:$sensorStr sensorTS:$sensorTS" if ($DEBUG_Sensor);
|
|
$stateStr="alarm - no $reading yet for $sensor" if ( !$sensorStr && !$stateStr);
|
|
|
|
# sensor alive
|
|
if ($sensorStr && $sensorTS)
|
|
{
|
|
my $timeDiff = PID20_TimeDiff($sensorTS);
|
|
$sensorIsAlive = 1 if ( $timeDiff <= $hash->{helper}{sensorTimeout} );
|
|
$sensorStr =~ m/$regexp/;
|
|
$sensorValue = $1;
|
|
$sensorValue="" if (!defined($sensorValue));
|
|
PID20_Log $hash, 2, "S2 timeOfDay:".gettimeofday()
|
|
." timeDiff:$timeDiff sensorTimeout:".$hash->{helper}{sensorTimeout}
|
|
." --> sensorIsAlive:$sensorIsAlive" if ($DEBUG_Sensor);
|
|
}
|
|
|
|
# sensor dead
|
|
$stateStr="alarm - dead sensor" if (!$sensorIsAlive && !$stateStr);
|
|
|
|
# missing desired
|
|
$stateStr="alarm - missing desired" if ($desired eq "" && !$stateStr);
|
|
|
|
# check delta threshold
|
|
$delta =($desired ne "" && $sensorValue ne "" ) ? $desired - $sensorValue : "";
|
|
|
|
$calcReq = 1 if (!$stateStr && $delta ne "" && (abs($delta) >= abs( $hash->{helper}{deltaTreshold})) );
|
|
|
|
PID20_Log $hash, 2, "D1 desired[". ($desired ne "") ? sprintf( "%.1f", $desired) : ""
|
|
."] - sensorValue: [". ($sensorValue ne "") ? sprintf( "%.1f", $sensorValue) : ""
|
|
."] = delta[". ($delta ne "") ? sprintf( "%.2f", $delta):""
|
|
."] calcReq:$calcReq"
|
|
if ($DEBUG_Delta);
|
|
|
|
#request for calculation
|
|
|
|
# ---------------- calculation request
|
|
if ($calcReq)
|
|
{
|
|
# reverse action requested
|
|
my $workDelta = ( $hash->{helper}{reverseAction} ==1 ) ? -$delta: $delta;
|
|
my $deltaOld = - $deltaOld if ($hash->{helper}{reverseAction} ==1 );
|
|
|
|
# calc p-portion
|
|
$pPortion = $workDelta * $hash->{helper}{factor_P};
|
|
|
|
# calc d-Portion
|
|
$dPortion = ( $deltaGradient ) * $hash->{helper}{calcInterval} * $hash->{helper}{factor_D};
|
|
|
|
|
|
# calc i-portion respecting windUp
|
|
# freeze i-portion if windUp is active
|
|
my $isWindup =
|
|
$actuationCalcOld &&
|
|
(
|
|
( $workDelta > 0 && $actuationCalcOld > $actorLimitUpper )
|
|
|| ( $workDelta < 0 && $actuationCalcOld < $actorLimitLower )
|
|
);
|
|
|
|
if ($hash->{helper}{adjust} ne "")
|
|
{
|
|
$iPortion = $hash->{helper}{adjust} - ($pPortion + $dPortion);
|
|
$iPortion= $actorLimitUpper if($iPortion > $actorLimitUpper);
|
|
$iPortion= $actorLimitLower if($iPortion < $actorLimitLower);
|
|
PID20_Log $hash, 5, "adjust request with:".$hash->{helper}{adjust}." ==> p_i:$iPortion";
|
|
|
|
$hash->{helper}{adjust}="";
|
|
}
|
|
elsif ( !$isWindup ) # integrate only if no windUp
|
|
{
|
|
# normalize the intervall to minute=60 seconds
|
|
$iPortion = $iPortion + $workDelta * $hash->{helper}{factor_I}*$hash->{helper}{calcInterval}/60;
|
|
$hash->{helper}{isWindUP} = 0;
|
|
}
|
|
$hash->{helper}{isWindUP} = $isWindup;
|
|
|
|
# calc actuation
|
|
$actuationCalc = $pPortion + $iPortion + $dPortion;
|
|
PID20_Log $hash, 2, "P1 delta:".sprintf( "%.2f",$delta)
|
|
." isWindup:$isWindup"
|
|
if ($DEBUG_Calc);
|
|
|
|
PID20_Log $hash, 2, "P2 pPortion:".sprintf( "%.2f",$pPortion)
|
|
." iPortion:".sprintf( "%.2f",$iPortion)
|
|
." dPortion:".sprintf( "%.2f",$dPortion)
|
|
." actuationCalc:".sprintf( "%.2f", $actuationCalc) if ($DEBUG_Calc);
|
|
|
|
readingsBeginUpdate($hash);
|
|
readingsBulkUpdate( $hash, 'p_p', $pPortion );
|
|
readingsBulkUpdate( $hash, 'p_i', $iPortion );
|
|
readingsBulkUpdate( $hash, 'p_d', $dPortion );
|
|
readingsBulkUpdate( $hash, 'actuationCalc', $actuationCalc );
|
|
readingsBulkUpdate( $hash, 'delta', $delta );
|
|
readingsEndUpdate( $hash, 0 );
|
|
#PID20_Log $hash, 3, "calculation done";
|
|
}
|
|
|
|
# ---------------- acutation request
|
|
my $noTrouble = ($desired ne "" && $sensorIsAlive);
|
|
|
|
# check actor fallback in case of sensor fault
|
|
if (!$sensorIsAlive && ($hash->{helper}{actorErrorAction} eq "errorPos"))
|
|
{
|
|
$stateStr .= "- force pid-output to errorPos";
|
|
$actuationCalc=$hash->{helper}{actorErrorPos};
|
|
$actuationCalc="" if (!defined($actuationCalc));
|
|
}
|
|
|
|
# check acutation diff
|
|
$actuation = $actuationCalc;
|
|
|
|
# limit $actuation
|
|
$actuation= $actorLimitUpper if($actuation ne "" && ($actuation > $actorLimitUpper));
|
|
$actuation= $actorLimitLower if($actuation ne "" && ($actuation < $actorLimitLower));
|
|
|
|
# check if round request
|
|
my $fmt= "%.".$hash->{helper}{actorValueDecPlaces}."f";
|
|
$actuation = sprintf( $fmt, $actuation) if ($actuation ne "");
|
|
|
|
my $actuationDiff = abs( $actuation - $actuationDone) if ($actuation ne "" && $actuationDone ne "");
|
|
PID20_Log $hash, 2, "A1 act:$actuation actDone:$actuationDone "
|
|
." actThreshold:".$hash->{helper}{actorThreshold}
|
|
." actDiff:$actuationDiff"
|
|
if ($DEBUG_Actuation);
|
|
|
|
# check threshold-condition for actuation
|
|
my $rsTS = $actuationDone ne "" # limit exceeded
|
|
&& $actuationDiff >= $hash->{helper}{actorThreshold};
|
|
|
|
my $rsUp = $actuationDone ne "" # upper range
|
|
&& $actuation>$actorLimitUpper-$hash->{helper}{actorThreshold}
|
|
&& $actuationDiff != 0
|
|
&& $actuation >=$actorLimitUpper;
|
|
|
|
my $rsDown = $actuationDone ne "" # low range
|
|
&& $actuation<$actorLimitLower+$hash->{helper}{actorThreshold}
|
|
&& $actuationDiff != 0
|
|
&& $actuation <=$actorLimitLower;
|
|
|
|
my $rsLimit = $actuationDone ne ""
|
|
&& ($actuationDone<$actorLimitLower || $actuationDone>$actorLimitUpper);
|
|
|
|
my $actuationByThreshold = ( ($rsTS || $rsUp || $rsDown ) && $noTrouble);
|
|
|
|
PID20_Log $hash, 2, "A2 rsTS:$rsTS rsUp:$rsUp rsDown:$rsDown noTrouble:$noTrouble" if ($DEBUG_Actuation);
|
|
|
|
# check time condition for actuation
|
|
my $actTimeDiff = PID20_TimeDiff($actorTimestamp); # $actorTimestamp is valid in each case
|
|
my $actuationByTime = ($noTrouble) && ($actTimeDiff > $hash->{helper}{actorInterval});
|
|
|
|
PID20_Log $hash, 2, "A3 actTS:$actorTimestamp"
|
|
." actTimeDiff:".sprintf( "%.2f",$actTimeDiff)
|
|
." actInterval:".$hash->{helper}{actorInterval}
|
|
."-->actByTime:$actuationByTime " if ($DEBUG_Actuation);
|
|
|
|
# check keep alive condition for actuation
|
|
my $actuationKeepAliveReq = ($actTimeDiff >= $hash->{helper}{actorKeepAlive})
|
|
if (defined($actTimeDiff) && $actuation ne "");
|
|
|
|
# summary actuation reques
|
|
|
|
my $actuationReq = (
|
|
($actuationByThreshold && $actuationByTime)
|
|
|| $actuationKeepAliveReq
|
|
|| $rsLimit
|
|
|| $actuationDone eq "" # startup condition
|
|
)
|
|
&& $actuation ne "";
|
|
|
|
PID20_Log $hash, 2, "A4 (actByTh:$actuationByThreshold && actByTime:$actuationByTime)"
|
|
."||actKeepAlive:$actuationKeepAliveReq"
|
|
."||rsLimit:$rsLimit=actnReq:$actuationReq" if ($DEBUG_Actuation);
|
|
|
|
# perform output to actor
|
|
if ($actuationReq)
|
|
{
|
|
#build command for fhem
|
|
PID20_Log $hash, 5, "actor:".$hash->{helper}{actor}
|
|
." actorCommand:".$hash->{helper}{actorCommand}
|
|
." actuation:".$actuation;
|
|
|
|
my $cmd= sprintf("set %s %s %g", $hash->{helper}{actor}, $hash->{helper}{actorCommand},$actuation);
|
|
|
|
# execute command
|
|
my $ret;
|
|
$ret = fhem $cmd;
|
|
|
|
# note timestamp
|
|
$hash->{helper}{actorTimestamp}=TimeNow();
|
|
$actuationDone=$actuation;
|
|
my $retStr="" if (!$ret);
|
|
PID20_Log $hash, 3, "<$cmd> with ret:$retStr";
|
|
}
|
|
|
|
my $updateAlive= ($actuation ne "")
|
|
&& PID20_TimeDiff(ReadingsTimestamp( $name, 'actuation', gettimeofday()))>=$hash->{helper}{updateInterval};
|
|
|
|
my $updateReq=(($actuationReq || $updateAlive) && $actuation ne "");
|
|
|
|
PID20_Log $hash, 2, "U1 actReq:$actuationReq updateAlive:$updateAlive --> updateReq:$updateReq"
|
|
if ($DEBUG_Update);
|
|
|
|
# ---------------- update request
|
|
if ($updateReq)
|
|
{
|
|
readingsBeginUpdate($hash);
|
|
readingsBulkUpdate( $hash, $hash->{helper}{desiredName}, $desired ) if ($desired ne "");
|
|
readingsBulkUpdate( $hash, $hash->{helper}{measuredName}, $sensorValue ) if ($sensorValue ne "");
|
|
readingsBulkUpdate( $hash, 'p_p', $pPortion ) if ($pPortion ne"");
|
|
readingsBulkUpdate( $hash, 'p_d', $dPortion ) if ($dPortion ne "");
|
|
readingsBulkUpdate( $hash, 'p_i', $iPortion ) if ($iPortion ne "");
|
|
readingsBulkUpdate( $hash, 'actuation', $actuationDone ) if ($actuationDone ne "");
|
|
readingsBulkUpdate( $hash, 'actuationCalc', $actuationCalc ) if ($actuationCalc ne "");
|
|
readingsBulkUpdate( $hash, 'delta', $delta ) if ($delta ne "");
|
|
readingsEndUpdate( $hash, 1 );
|
|
PID20_Log $hash, 5, "readings updated";
|
|
}
|
|
last;
|
|
} # end while
|
|
|
|
# update statePID.
|
|
$stateStr = "idle" if (!$stateStr && !$calcReq);
|
|
$stateStr = "processing" if (!$stateStr && $calcReq);
|
|
readingsSingleUpdate( $hash, 'state', $stateStr , 0 );
|
|
|
|
PID20_Log $hash, 2, "C1 stateStr:$stateStr calcReq:$calcReq" if ($DEBUG_Calc);
|
|
|
|
# timer setup
|
|
my $next = gettimeofday() + $hash->{helper}{calcInterval};
|
|
RemoveInternalTimer($name); # prevent multiple timers for same hash
|
|
InternalTimer( $next, "PID20_Calc", $name, 1 );
|
|
|
|
#PID20_Log $hash, 2, "InternalTimer next:".FmtDateTime($next)." PID20_Calc name:$name DEBUG_Calc:$DEBUG_Calc";
|
|
|
|
return;
|
|
}
|
|
|
|
|
|
1;
|
|
|
|
=pod
|
|
=begin html
|
|
|
|
<a name="PID20"></a>
|
|
<h3>PID20</h3>
|
|
<ul>
|
|
|
|
<a name="PID20define"></a>
|
|
<b>Define</b>
|
|
<ul>
|
|
<br/>
|
|
<code>define <name> PID20 <sensor[:reading[:regexp]]> <actor:cmd ></code>
|
|
<br/><br/>
|
|
This module provides a PID device, using <sensor> and <actor><br/>
|
|
</ul>
|
|
<br/><br/>
|
|
|
|
<a name="PID20set"></a>
|
|
<b>Set-Commands</b><br/>
|
|
<ul>
|
|
|
|
<br/>
|
|
<code>set <name> desired <value></code>
|
|
<br/><br/>
|
|
<ul>Set desired value for PID</ul>
|
|
<br/>
|
|
|
|
<br/>
|
|
<code>set <name> start</code>
|
|
<br/><br/>
|
|
<ul>Start PID processing again, using frozen values from former stop.</ul>
|
|
<br/>
|
|
|
|
<br/>
|
|
<code>set <name> stop</code>
|
|
<br/><br/>
|
|
<ul>PID stops processing, freezing all values.</ul>
|
|
<br/>
|
|
|
|
<br/>
|
|
<code>set <name> restart <value></code>
|
|
<br/><br/>
|
|
<ul>Same as start, but uses value as start value for actor</ul>
|
|
<br/>
|
|
|
|
</ul>
|
|
<br/><br/>
|
|
|
|
<a name="PID20get"></a>
|
|
<b>Get-Commands</b><br/>
|
|
<ul>
|
|
|
|
<br/>
|
|
<code>get <name> params</code>
|
|
<br/><br/>
|
|
<ul>Get list containing current parameters.</ul>
|
|
<br/>
|
|
|
|
</ul>
|
|
<br/><br/>
|
|
|
|
<a name="PID20attr"></a>
|
|
<b>Attributes</b><br/><br/>
|
|
<ul>
|
|
<li><a href="#readingFnAttributes">readingFnAttributes</a></li>
|
|
<br/>
|
|
<li><b>disable</b> - disable the PID device, possible values: 0,1; default: 0</li>
|
|
<li><b>pidActorValueDecPlaces</b> - number of demicals, possible values: 0..5; default: 0</li>
|
|
<li><b>pidActorInterval</b> - number of seconds to wait between to commands sent to actor; default: 180</li>
|
|
<li><b>pidActorTreshold</b> - threshold to be reached before command will be sent to actor; default: 1</li>
|
|
<li><b>pidActorErrorAction</b> - required action on error, possible values: freeze,errorPos; default: freeze</li>
|
|
<li><b>pidActorErrorPos</b> - actor's position to be used in case of error; default: 0</li>
|
|
<li><b>pidActorKeepAlive</b> - number of seconds to force command to be sent to actor; default: 1800</li>
|
|
<li><b>pidActorLimitLower</b> - lower limit for actor; default: 0</li>
|
|
<li><b>pidActorLimitUpper</b> - upper limit for actor; default: 100</li>
|
|
<li><b>pidCalcInterval</b> - interval (seconds) to calculate new pid values; default: 60</li>
|
|
<li><b>pidDeltaTreshold</b> - if delta < delta-threshold the pid will enter idle state; default: 0</li>
|
|
<li><b>pidDesiredName</b> - reading's name for desired value; default: desired</li>
|
|
<li><b>pidFactor_P</b> - P value for PID; default: 25</li>
|
|
<li><b>pidFactor_I</b> - I value for PID; default: 0.25</li>
|
|
<li><b>pidFactor_D</b> - D value for PID; default: 0</li>
|
|
<li><b>pidMeasuredName</b> - reading's name for measured value; default: measured</li>
|
|
<li><b>pidSensorTimeout</b> - number of seconds to wait before sensor will be recognized n/a; default: 3600</li>
|
|
<li><b>pidReverseAction</b> - reverse PID operation mode, possible values: 0,1; default: 0</li>
|
|
<li><b>pidUpdateInterval</b> - number of seconds to wait before an update will be forced for plotting; default: 300</li>
|
|
|
|
</ul>
|
|
<br/><br/>
|
|
|
|
<b>Generated Readings/Events:</b>
|
|
<br/><br/>
|
|
<ul>
|
|
<li><b>actuation</b> - real actuation set to actor</li>
|
|
<li><b>actuationCalc</b> - internal actuation calculated without limits</li>
|
|
<li><b>delta</b> - current difference desired - measured</li>
|
|
<li><b>desired</b> - desired value</li>
|
|
<li><b>measured</b> - measured value</li>
|
|
<li><b>p_p</b> - p value of pid calculation</li>
|
|
<li><b>p_i</b> - i value of pid calculation</li>
|
|
<li><b>p_d</b> - d value of pid calculation</li>
|
|
<li><b>state</b> - current device state</li>
|
|
<br/>
|
|
Names for desired and measured readings can be changed by corresponding attributes (see above).<br/>
|
|
</ul>
|
|
<br/><br/>
|
|
|
|
<b>Additional informations</b><br/><br/>
|
|
<ul>
|
|
<li><a href="http://forum.fhem.de/index.php/topic,17067.0.html">Discussion in FHEM forum</a></li><br/>
|
|
<li><a href="http://www.fhemwiki.de/wiki/PID20_-_Der_PID-Regler">WIKI information in FHEM wiki</a></li><br/>
|
|
</ul>
|
|
|
|
</ul>
|
|
|
|
=end html
|