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Climate PID Autotune Logging fixes (#4136)
* pid autotune logging fixes * fixed clang-format request * improved and clarified logging * changed logging not to alter the TAG * logging now does not alter TAG. fixed clang formattting * fixed string issues * playing with strings to please the clang gods * playing with strings * Delete secrets.yaml * Delete console-fan-autotune-test.yaml * Update esphome/components/pid/pid_autotuner.cpp Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com> * Update esphome/components/pid/pid_autotuner.cpp Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com> * Update esphome/components/pid/pid_autotuner.cpp Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com> * Update esphome/components/pid/pid_autotuner.cpp Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com> * Update esphome/components/pid/pid_autotuner.cpp Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com> --------- Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
This commit is contained in:
Patrick Collins
GitHub
parent
b14e774a27
commit
045489e6d7
3 changed files with 32 additions and 16 deletions
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@ -1,6 +1,10 @@
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#include "pid_autotuner.h"
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#include "esphome/core/log.h"
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#ifndef M_PI
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#define M_PI 3.1415926535897932384626433
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#endif
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namespace esphome {
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namespace pid {
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@ -73,7 +77,7 @@ PIDAutotuner::PIDAutotuneResult PIDAutotuner::update(float setpoint, float proce
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}
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if (!std::isnan(this->setpoint_) && this->setpoint_ != setpoint) {
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ESP_LOGW(TAG, "Setpoint changed during autotune! The result will not be accurate!");
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ESP_LOGW(TAG, "%s: Setpoint changed during autotune! The result will not be accurate!", this->id_.c_str());
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}
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this->setpoint_ = setpoint;
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@ -87,7 +91,7 @@ PIDAutotuner::PIDAutotuneResult PIDAutotuner::update(float setpoint, float proce
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if (!this->frequency_detector_.has_enough_data() || !this->amplitude_detector_.has_enough_data()) {
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// not enough data for calculation yet
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ESP_LOGV(TAG, " Not enough data yet for aututuner");
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ESP_LOGV(TAG, "%s: Not enough data yet for autotuner", this->id_.c_str());
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return res;
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}
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@ -97,12 +101,13 @@ PIDAutotuner::PIDAutotuneResult PIDAutotuner::update(float setpoint, float proce
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// The frequency/amplitude is not fully accurate yet, try to wait
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// until the fault clears, or terminate after a while anyway
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if (zc_symmetrical) {
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ESP_LOGVV(TAG, " ZC is not symmetrical");
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ESP_LOGVV(TAG, "%s: ZC is not symmetrical", this->id_.c_str());
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}
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if (amplitude_convergent) {
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ESP_LOGVV(TAG, " Amplitude is not convergent");
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ESP_LOGVV(TAG, "%s: Amplitude is not convergent", this->id_.c_str());
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}
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uint32_t phase = this->relay_function_.phase_count;
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ESP_LOGVV(TAG, "%s: >", this->id_.c_str());
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ESP_LOGVV(TAG, " Phase %u, enough=%u", phase, enough_data_phase_);
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if (this->enough_data_phase_ == 0) {
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@ -116,7 +121,7 @@ PIDAutotuner::PIDAutotuneResult PIDAutotuner::update(float setpoint, float proce
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}
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}
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ESP_LOGI(TAG, "PID Autotune finished!");
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ESP_LOGI(TAG, "%s: PID Autotune finished!", this->id_.c_str());
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float osc_ampl = this->amplitude_detector_.get_mean_oscillation_amplitude();
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float d = (this->relay_function_.output_positive - this->relay_function_.output_negative) / 2.0f;
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@ -131,12 +136,12 @@ PIDAutotuner::PIDAutotuneResult PIDAutotuner::update(float setpoint, float proce
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return res;
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}
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void PIDAutotuner::dump_config() {
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ESP_LOGI(TAG, "PID Autotune:");
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if (this->state_ == AUTOTUNE_SUCCEEDED) {
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ESP_LOGI(TAG, "%s: PID Autotune:", this->id_.c_str());
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ESP_LOGI(TAG, " State: Succeeded!");
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bool has_issue = false;
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if (!this->amplitude_detector_.is_amplitude_convergent()) {
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ESP_LOGW(TAG, " Could not reliable determine oscillation amplitude, PID parameters may be inaccurate!");
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ESP_LOGW(TAG, " Could not reliably determine oscillation amplitude, PID parameters may be inaccurate!");
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ESP_LOGW(TAG, " Please make sure you eliminate all outside influences on the measured temperature.");
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has_issue = true;
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}
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@ -173,10 +178,12 @@ void PIDAutotuner::dump_config() {
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print_rule_("Pessen Integral PID", 0.7f, 1.75f, 0.105f);
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print_rule_("Some Overshoot PID", 0.333f, 0.667f, 0.111f);
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print_rule_("No Overshoot PID", 0.2f, 0.4f, 0.0625f);
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ESP_LOGI(TAG, "%s: Autotune completed", this->id_.c_str());
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}
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if (this->state_ == AUTOTUNE_RUNNING) {
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ESP_LOGI(TAG, " Autotune is still running!");
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ESP_LOGD(TAG, "%s: PID Autotune:", this->id_.c_str());
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ESP_LOGD(TAG, " Autotune is still running!");
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ESP_LOGD(TAG, " Status: Trying to reach %.2f °C", setpoint_ - relay_function_.current_target_error());
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ESP_LOGD(TAG, " Stats so far:");
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ESP_LOGD(TAG, " Phases: %u", relay_function_.phase_count);
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@ -221,7 +228,6 @@ float PIDAutotuner::RelayFunction::update(float error) {
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float output = state == RELAY_FUNCTION_POSITIVE ? output_positive : output_negative;
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if (change) {
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this->phase_count++;
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ESP_LOGV(TAG, "Autotune: Turning output to %.1f%%", output * 100);
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}
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return output;
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@ -245,10 +251,8 @@ void PIDAutotuner::OscillationFrequencyDetector::update(uint32_t now, float erro
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if (had_crossing) {
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// Had crossing above hysteresis threshold, record
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ESP_LOGV(TAG, "Autotune: Detected Zero-Cross at %u", now);
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if (this->last_zerocross != 0) {
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uint32_t dt = now - this->last_zerocross;
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ESP_LOGV(TAG, " dt: %u", dt);
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this->zerocrossing_intervals.push_back(dt);
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}
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this->last_zerocross = now;
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@ -297,13 +301,11 @@ void PIDAutotuner::OscillationAmplitudeDetector::update(float error,
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// The positive error peak must have been in previous segment (180° shifted)
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// record phase_max
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this->phase_maxs.push_back(phase_max);
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ESP_LOGV(TAG, "Autotune: Phase Max: %f", phase_max);
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} else if (last_relay_state == RelayFunction::RELAY_FUNCTION_NEGATIVE) {
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// Transitioned from negative error to positive error.
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// The negative error peak must have been in previous segment (180° shifted)
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// record phase_min
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this->phase_mins.push_back(phase_min);
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ESP_LOGV(TAG, "Autotune: Phase Min: %f", phase_min);
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}
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// reset phase values for next phase
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this->phase_min = error;
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@ -31,6 +31,8 @@ class PIDAutotuner {
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void dump_config();
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void set_autotuner_id(std::string id) { this->id_ = std::move(id); }
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void set_noiseband(float noiseband) {
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relay_function_.noiseband = noiseband;
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// ZC detector uses 1/4 the noiseband of relay function (noise suppression)
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@ -106,6 +108,7 @@ class PIDAutotuner {
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} state_ = AUTOTUNE_RUNNING;
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float ku_;
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float pu_;
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std::string id_;
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};
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} // namespace pid
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@ -130,9 +130,6 @@ void PIDClimate::update_pid_() {
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// keep autotuner instance so that subsequent dump_configs will print the long result message.
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} else {
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value = res.output;
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if (mode != climate::CLIMATE_MODE_HEAT_COOL) {
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ESP_LOGW(TAG, "For PID autotuner you need to set AUTO (also called heat/cool) mode!");
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}
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}
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}
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}
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@ -151,10 +148,24 @@ void PIDClimate::start_autotune(std::unique_ptr<PIDAutotuner> &&autotune) {
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float min_value = this->supports_cool_() ? -1.0f : 0.0f;
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float max_value = this->supports_heat_() ? 1.0f : 0.0f;
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this->autotuner_->config(min_value, max_value);
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this->autotuner_->set_autotuner_id(this->get_object_id());
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ESP_LOGI(TAG,
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"%s: Autotune has started. This can take a long time depending on the "
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"responsiveness of your system. Your system "
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"output will be altered to deliberately oscillate above and below the setpoint multiple times. "
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"Until your sensor provides a reading, the autotuner may display \'nan\'",
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this->get_object_id().c_str());
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this->set_interval("autotune-progress", 10000, [this]() {
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if (this->autotuner_ != nullptr && !this->autotuner_->is_finished())
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this->autotuner_->dump_config();
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});
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if (mode != climate::CLIMATE_MODE_HEAT_COOL) {
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ESP_LOGW(TAG, "%s: !!! For PID autotuner you need to set AUTO (also called heat/cool) mode!",
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this->get_object_id().c_str());
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}
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}
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void PIDClimate::reset_integral_term() { this->controller_.reset_accumulated_integral(); }
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