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https://github.com/sinseman44/PyCNC.git
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utils for PID control
This commit is contained in:
Nikolay Khabarov
147
utils/heater_model_finder.py
Executable file
147
utils/heater_model_finder.py
Executable file
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#!/usr/bin/env python
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import os
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import sys
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import time
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cnc_dir = os.path.dirname(os.path.dirname(os.path.realpath(__file__)))
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sys.path.append(cnc_dir)
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from cnc.hal_raspberry import hal
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"""
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This executable module is looking for heating and cooling transfer coefficients.
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Can be ran only on real hardware.
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"""
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# change settings below for your hardware/environment
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EXTRUDER_MAX_TEMPERATURE = 200
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EXTRUDER_DELTA_TEMPERATURE = 50
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BED_MAX_TEMPERATURE = 70
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BED_DELTA_TEMPERATURE = 10
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ENVIRONMENT_TEMPERATURE = 25
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# finder itself
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def finder(max_temperature, delta_temperature, get_temperature, control):
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ca = 0
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cn = 0
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ha = 0
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hn = 0
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print("Heating...")
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control(100)
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last_t = get_temperature()
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last_time = time.time()
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heated = False
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while True:
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t = get_temperature()
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if t >= max_temperature:
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if not heated:
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control(0)
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heated = True
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if heated and t <= max_temperature:
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break
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if abs(last_t - t) >= 1:
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print("Temperature is " + str(t))
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last_time = time.time()
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last_t = t
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time.sleep(0.1)
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print("Heated, measure cooling transfer coefficient.")
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while True:
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t = get_temperature()
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if abs(last_t - t) >= 1:
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current_time = time.time()
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if t <= max_temperature - delta_temperature:
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break
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v = abs(last_t - t) \
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/ abs((last_t + t) / 2.0 - ENVIRONMENT_TEMPERATURE) \
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/ (current_time - last_time)
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print("Temperature is {}, coefficient is {}".format(t, v))
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ca += v
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cn += 1
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last_time = current_time
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last_t = t
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time.sleep(0.001)
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c = ca / float(cn)
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print("Cooled off, waiting...")
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time.sleep(60)
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print("Heating, measure heating transfer coefficient.")
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control(100)
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heat_start = 0
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while True:
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t = get_temperature()
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if abs(last_t - t) >= 1:
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current_time = time.time()
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if t > max_temperature:
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heat_end = current_time
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break
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if t >= max_temperature - delta_temperature:
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ct = last_t \
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- c * (current_time - last_time) \
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* abs((last_t + t) / 2.0 - ENVIRONMENT_TEMPERATURE)
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v = abs(t - ct) / (current_time - last_time)
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print("Temperature is {}, coefficient is {}".format(t, v))
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if hn == 0:
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heat_start = current_time
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ha += v
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hn += 1
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else:
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print("Temperature is " + str(t))
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last_time = current_time
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last_t = t
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time.sleep(0.001)
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h = ha / float(hn)
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control(0)
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print("Testing results...")
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# quick test
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heat_time = heat_end - heat_start
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t = max_temperature - delta_temperature
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for i in range(0, int(heat_time + 0.5)):
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t -= abs((t - ENVIRONMENT_TEMPERATURE)) * c
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t += h
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model_status = abs(max_temperature - t) < max_temperature * 0.1
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print("Model quick test result is {}/{} - {}"
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.format(t, max_temperature, model_status))
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print("Cooling transfer coefficient is " + str(c))
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print("Heating transfer coefficient is " + str(h))
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return c, h
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# finder itself
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def main():
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hal.init()
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try:
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hal.fan_control(True)
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print("Running for extruder...")
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try:
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ec, eh = finder(EXTRUDER_MAX_TEMPERATURE,
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EXTRUDER_DELTA_TEMPERATURE,
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hal.get_extruder_temperature,
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hal.extruder_heater_control)
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except (IOError, OSError):
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ec, eh = None, None
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print("Extruder malfunction")
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hal.extruder_heater_control(0)
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print("Running for bed...")
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try:
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bc, bh = finder(BED_MAX_TEMPERATURE,
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BED_DELTA_TEMPERATURE,
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hal.get_bed_temperature,
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hal.bed_heater_control)
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except (IOError, OSError):
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bc, bh = None, None
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print("Bed malfunction")
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hal.bed_heater_control(0)
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print("Done")
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print("Extruder transfer coefficients, cooling {}, heating {}"
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.format(ec, eh))
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print("Bed transfer coefficients, cooling {}, heating {}"
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.format(bc, bh))
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hal.fan_control(False)
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except KeyboardInterrupt:
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pass
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hal.deinit()
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if __name__ == '__main__':
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main()
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107
utils/pid_finder.py
Executable file
107
utils/pid_finder.py
Executable file
@@ -0,0 +1,107 @@
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#!/usr/bin/env python
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import os
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import sys
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import time
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cnc_dir = os.path.dirname(os.path.dirname(os.path.realpath(__file__)))
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sys.path.append(cnc_dir)
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from cnc.hal_raspberry import hal
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"""
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This executable module is looking for PID coefficients.
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Can be ran only on real hardware.
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"""
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# change settings below for your hardware/environment
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EXTRUDER_TARGET_TEMPERATURE = 200
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BED_TARGET_TEMPERATURE = 70
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DUMMY_CYCLES = 2
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TOTAL_CYCLES = 7
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# finder itself
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def finder(target_temperature, get_temperature, control):
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print("Heating...")
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on = True
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control(100)
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last_t = get_temperature()
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last_time = time.time()
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max_t = 0
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min_t = 10000
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cycle_number = 0
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cycle_accumulator = 0
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cycle_counter = 0
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cycle_time = 0
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while True:
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current_time = time.time()
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t = get_temperature()
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time_filter = (current_time - last_time) > 0.1
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if t >= target_temperature and on and time_filter:
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on = False
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control(0)
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last_time = current_time
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cycle_number += 1
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if cycle_number > DUMMY_CYCLES:
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print("Cycle took {} s".format(current_time - cycle_time))
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cycle_accumulator += current_time - cycle_time
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cycle_counter += 1
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cycle_time = current_time
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if t < target_temperature and not on and time_filter:
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if cycle_number > TOTAL_CYCLES:
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break
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on = True
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control(100)
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last_time = current_time
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if abs(last_t - t) >= 1:
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print("Temperature is {}, cycle #{}".format(t, cycle_number))
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last_t = t
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if cycle_number > DUMMY_CYCLES:
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if t > max_t:
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max_t = t
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if t < min_t:
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min_t = t
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time.sleep(0.001)
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d_temperature = max_t - min_t
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d_time = cycle_accumulator / cycle_counter
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print("dT={}, dt={}".format(d_temperature, d_time))
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p = 1.0 / (1.2 * d_temperature)
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i = 1.0 / (15.0 * d_time)
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d = 1.0 / (0.15 * d_time)
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print("Finder result P={}, I={}, D={}".format(p, i, d))
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return p, i, d
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# finder itself
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def main():
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hal.init()
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try:
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hal.fan_control(True)
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print("Running for extruder...")
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try:
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ep, ei, ed = finder(EXTRUDER_TARGET_TEMPERATURE,
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hal.get_extruder_temperature,
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hal.extruder_heater_control)
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except (IOError, OSError):
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ep, ei, ed = None, None, None
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print("Extruder malfunction")
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hal.extruder_heater_control(0)
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print("Running for bed...")
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try:
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bp, bi, bd = finder(BED_TARGET_TEMPERATURE,
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hal.get_bed_temperature,
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hal.bed_heater_control)
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except (IOError, OSError):
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bp, bi, bd = None, None, None
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print("Bed malfunction")
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print("Done")
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print("Extruder P={}, I={}, D={}".format(ep, ei, ed))
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print("Bed P={}, I={}, D={}".format(bp, bi, bd))
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hal.bed_heater_control(0)
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hal.fan_control(False)
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except KeyboardInterrupt:
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pass
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hal.deinit()
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if __name__ == '__main__':
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main()
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