PID Tyreus-Lyben autotune method

Nibbels · Oct 30, 2017 · fe1597f · fe1597f
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diff --git a/README.de_DE.md b/README.de_DE.md
@@ -29,11 +29,11 @@ Prozessor: `ATMega 2560 (Mega 2560)`,
 Port: Der Port des Druckers, wie `COM3`, wenn er korrekt verbunden ist.
 - **Prüfen** and **Hochladen** der Firmware zum Drucker.
 ## Wenn du von Version from 1.37r oder früher updatest, mache bitte einen neuen M303 PID-Autotune bei allen Heizelementen!  
-- RF2000/RF1000 Extruder 1: `M303 P0 X0 S230 R10 J1`
-- RF2000 Extruder 2: `M303 P1 X0 S230 R10 J1`
-- RF2000 Heizbett: `M303 P2 X0 S70 R15 J3`
-- RF1000 Heizbett: `M303 P1 X0 S70 R15 J3`  
-Starte mit EEPROM-Werten `PID drive min = 5` and `PID drive max = 100`  
+- RF2000/RF1000 Extruder 1: `M303 P0 X0 S230 R10 J1`  
+- RF2000 Extruder 2: `M303 P1 X0 S230 R10 J1`  
+- RF2000 Heizbett: `M303 P2 X0 S70 R15 J4`  
+- RF1000 Heizbett: `M303 P1 X0 S70 R15 J4`  
+Starte mit EEPROM-Werten `PID I drive min = 30` and `PID I drive max = 100`  
 Oder setze #define PID_CONTROL_DRIVE_MIN_LIMIT_FACTOR zu 10.0f in der configuration.h um die alte Version des PID Reglers zu nutzen.
 
 ## Version RF 1.37mod - wichtige Threads im Forum
@@ -203,7 +203,8 @@ Erweiterter GCode M303:
 [J1] Pessen Integral Rule (empfohlen für Hotend)  
 [J2] Some Overshoot  
 [J3] No Overshoot (empfohlen für Heizbett)  
-[J4] bis [J6] sind PD, PI, P-Profile for regelungstechnik experten bzw. spezielle Anwendungsfälle.  
+[J4] Tyreus-Luyben (empfohlen für Heizbett)  
+[J5] bis [J7] sind PD, PI, P-Profile for regelungstechnik experten bzw. spezielle Anwendungsfälle.  
 [Rn] Configurable Autotune cycles  
 Autotune support über das Druckermenü am Display.  
 Siehe auch http://www.rf1000.de/viewtopic.php?f=7&t=1963  

diff --git a/README.md b/README.md
@@ -29,11 +29,11 @@ Processor: `ATMega 2560 (Mega 2560)`,
 Port: Your printers Port like `COM3`, if successfully connected.
 - **Check** and **Upload** the Firmware to your Printer.
 ## If you upgrade to this Version from 1.37r or earlier please do a fresh M303 PID-Autotune on all heaters!  
-- RF2000/RF1000 extruder 1: `M303 P0 X0 S230 R10 J1`
-- RF2000 extruder 2: `M303 P1 X0 S230 R10 J1`
-- RF2000 heated bed: `M303 P2 X0 S70 R15 J3`
-- RF1000 heated bed: `M303 P1 X0 S70 R15 J3`  
-And start with EEPROM-values `PID drive min = 5` and `PID drive max = 100`  
+- RF2000/RF1000 extruder 1: `M303 P0 X0 S230 R10 J1`  
+- RF2000 extruder 2: `M303 P1 X0 S230 R10 J1`  
+- RF2000 heated bed: `M303 P2 X0 S70 R15 J4`  
+- RF1000 heated bed: `M303 P1 X0 S70 R15 J4`  
+And start with EEPROM-values `PID I drive min = 30` and `PID I drive max = 120`  
 Or set #define PID_CONTROL_DRIVE_MIN_LIMIT_FACTOR to 10.0f in configuration.h to use the old version PID-control.
 
 ## Version RF.01.37mod 
@@ -197,7 +197,8 @@ Additions to GCode M303:
 [J1] Pessen Integral Rule (suggested for Hotend)  
 [J2] Some Overshoot  
 [J3] No Overshoot (suggested for Heated Bed)  
-[J4] until [J6] are PD, PI, P-Profiles for control experts and special cases.  
+[J4] Tyreus-Luyben (suggested for Heated Bed)  
+[J5] until [J7] are PD, PI, P-Profiles for control experts and special cases.  
 [Rn] Configurable Autotune cycles  
 Easy autotune support via printers menu.  
 Siehe auch http://www.rf1000.de/viewtopic.php?f=7&t=1963  

diff --git a/Repetier/Communication.cpp b/Repetier/Communication.cpp
@@ -145,6 +145,7 @@ FSTRINGVALUE(Com::tAPIDClassic," Classic Ziegler-Nichols PID")
 FSTRINGVALUE(Com::tAPIDPessen," Pessen Integral Rule PID")
 FSTRINGVALUE(Com::tAPIDSome," Some-Overshoot PID")
 FSTRINGVALUE(Com::tAPIDNone," No-Overshoot PID")
+FSTRINGVALUE(Com::tAPIDTyreusLyben," Tyreus-Lyben PID")
 FSTRINGVALUE(Com::tAPIDsimplePD," PD")
 FSTRINGVALUE(Com::tAPIDsimplePI," PI")
 FSTRINGVALUE(Com::tAPIDsimpleP," P")

diff --git a/Repetier/Communication.h b/Repetier/Communication.h
@@ -145,6 +145,7 @@ class Com
     FSTRINGVAR(tAPIDPessen)
     FSTRINGVAR(tAPIDSome)
     FSTRINGVAR(tAPIDNone)
+    FSTRINGVAR(tAPIDTyreusLyben)
     FSTRINGVAR(tAPIDsimplePD)
     FSTRINGVAR(tAPIDsimplePI)
     FSTRINGVAR(tAPIDsimpleP)

diff --git a/Repetier/Constants.h b/Repetier/Constants.h
@@ -20,7 +20,7 @@
 #define CONSTANTS_H
 
 
-#define REPETIER_VERSION                    "RF.01.37w7.Mod"
+#define REPETIER_VERSION                    "RF.01.37w8.Mod"
 #define UI_PRINTER_COMPANY                  "Conrad Community"
 #define UI_VERSION_STRING                   "V " REPETIER_VERSION
 

diff --git a/Repetier/Extruder.cpp b/Repetier/Extruder.cpp
@@ -1347,15 +1347,18 @@ void TemperatureController::autotunePID(float temp, uint8_t controllerId, int ma
     Com::printInfoFLN(Com::tPIDAutotuneStart);
     Com::printF( PSTR("Ruleset: "), (int)method );
     switch(method){
-        case 6: //P
+        case 7: //P
             Com::printFLN(Com::tAPIDsimpleP);
         break;
-        case 5: //PI
+        case 6: //PI
             Com::printFLN(Com::tAPIDsimplePI);
         break;
-        case 4: //PD
+        case 5: //PD
             Com::printFLN(Com::tAPIDsimplePD);
         break;
+        case 4: //Tyreus-Lyben
+            Com::printFLN(Com::tAPIDTyreusLyben);
+        break;
         case 3: //PID no overshoot
             Com::printFLN(Com::tAPIDNone);
         break;
@@ -1438,24 +1441,29 @@ KP = Ku * Maßzahl lt. Tabelle
 see also: http://www.mstarlabs.com/control/znrule.html
 */
                         switch(method){
-                            case 6: //P
+                            case 7: //P
                                Kp = 0.5f*Ku;          //0.5 KRkrit
                                Ki = 0;
                                Kd = 0;
                                Com::printFLN(Com::tAPIDsimpleP);
                             break;
-                            case 5: //PI
+                            case 6: //PI
                                Kp = 0.45f*Ku;          //0.45 KRkrit
                                Ki = 1.2f*Kp/Tu;       //0.833 Tkrit
                                Kd = 0;
                                Com::printFLN(Com::tAPIDsimplePI);
                             break;
-                            case 4: //PD
+                            case 5: //PD
                                Kp = 0.8f*Ku;          //0.8 KRkrit
                                Ki = 0;
                                Kd = Kp*Tu/8.0f;       //0.125 Tkrit
                                Com::printFLN(Com::tAPIDsimplePD);
-                            break;
+                            break;                            
+                            case 4: //Tyreus-Lyben
+                                Kp = 0.4545f*Ku;      //1/2.2 KRkrit
+                                Ki = Kp/Tu/2.2f;        //2.2 Tkrit
+                                Kd = Kp*Tu/6.3f;      //1/6.3 Tkrit[/code]
+                                Com::printFLN(Com::tAPIDTyreusLyben);
                             case 3: //PID no overshoot
                                Kp = 0.2f*Ku;          //0.2 KRkrit
                                Ki = 2.0f*Kp/Tu;       //0.5 Tkrit

diff --git a/Repetier/ui.cpp b/Repetier/ui.cpp
@@ -3908,11 +3908,13 @@ void UIDisplay::nextPreviousAction(int8_t next)
 #endif // FEATURE_HEAT_BED_Z_COMPENSATION
 
         case UI_ACTION_RF_RESET_ACK:
-        {
-            INCREMENT_MIN_MAX(g_nYesNo,1,0,1);
-            break;
-        }
         case UI_ACTION_SD_STOP_ACK:
+        case UI_ACTION_RESTORE_DEFAULTS:
+        case UI_ACTION_CHOOSE_CLASSICPID:
+        case UI_ACTION_CHOOSE_LESSERINTEGRAL:
+        case UI_ACTION_CHOOSE_SOME:
+        case UI_ACTION_CHOOSE_NO:
+        case UI_ACTION_CHOOSE_TYREUS_LYBEN:
         {
             INCREMENT_MIN_MAX(g_nYesNo,1,0,1);
             break;
@@ -3960,20 +3962,6 @@ void UIDisplay::nextPreviousAction(int8_t next)
         }
 #endif //FEATURE_EMERGENCY_STOP_ALL
 
-        case UI_ACTION_RESTORE_DEFAULTS:
-        {
-            INCREMENT_MIN_MAX(g_nYesNo,1,0,1);
-            break;
-        }
-
-        case UI_ACTION_CHOOSE_CLASSICPID:
-        case UI_ACTION_CHOOSE_LESSERINTEGRAL:
-        case UI_ACTION_CHOOSE_SOME:
-        case UI_ACTION_CHOOSE_NO:
-        {
-            INCREMENT_MIN_MAX(g_nYesNo,1,0,1);
-            break;
-        }
         case UI_ACTION_CHOOSE_DMIN:
         {
             if(uid.menuLevel == 4){ //identifikation des temperaturzyklus anhand der position im menü. Das ist nicht 100% sauber, aber funktioniert.
@@ -4217,6 +4205,7 @@ void UIDisplay::finishAction(int action)
         case UI_ACTION_CHOOSE_LESSERINTEGRAL:
         case UI_ACTION_CHOOSE_SOME:
         case UI_ACTION_CHOOSE_NO:
+        case UI_ACTION_CHOOSE_TYREUS_LYBEN:
         {
             if( g_nYesNo != 1 )
             {

diff --git a/Repetier/ui.h b/Repetier/ui.h
@@ -160,10 +160,10 @@
 #define UI_ACTION_EMERGENCY_ZSTOP_MIN       1672
 #define UI_ACTION_EMERGENCY_ZSTOP_MAX       1673
 
-#define UI_ACTION_CHOOSE_CLASSICPID         1674
-#define UI_ACTION_CHOOSE_LESSERINTEGRAL     1675
-#define UI_ACTION_CHOOSE_SOME               1676
-#define UI_ACTION_CHOOSE_NO                 1677
+#define UI_ACTION_CHOOSE_CLASSICPID         1674 //pid kram
+#define UI_ACTION_CHOOSE_LESSERINTEGRAL     1675 //pid kram
+#define UI_ACTION_CHOOSE_SOME               1676 //pid kram
+#define UI_ACTION_CHOOSE_NO                 1677 //pid kram
 #define UI_ACTION_CHOOSE_DMIN               1678
 #define UI_ACTION_CHOOSE_DMAX               1679
 #define UI_ACTION_CHOOSE_PIDMAX             1680
@@ -192,6 +192,8 @@
 #define UI_ACTION_FEATURE_ZERO_DIGITS       1699
 #define UI_ACTION_DIGIT_COMPENSATION        1700
 
+#define UI_ACTION_CHOOSE_TYREUS_LYBEN       1701 //pid kram
+
 #define UI_ACTION_FET1_OUTPUT               2001
 #define UI_ACTION_FET2_OUTPUT               2002
 

diff --git a/Repetier/uilang.h b/Repetier/uilang.h
@@ -385,6 +385,7 @@
 #define UI_ACTION_TEXT_PESSEN "PID Pessen-Rule"
 #define UI_ACTION_TEXT_SOME "PID Some-Overshoot"
 #define UI_ACTION_TEXT_NO "PID No-Overshoot"
+#define UI_ACTION_TEXT_TYREUS_LYBEN "PID Tyreus-Lyben"
 
 #define UI_TEXT_MOTOR_X                "I_x: %MX"
 #define UI_TEXT_MOTOR_Y                "I_y: %MY"
@@ -745,6 +746,7 @@
 #define UI_ACTION_TEXT_PESSEN "PID Pessen-Rule"
 #define UI_ACTION_TEXT_SOME "PID Some-Overshoot"
 #define UI_ACTION_TEXT_NO "PID No-Overshoot"
+#define UI_ACTION_TEXT_TYREUS_LYBEN "PID Tyreus-Lyben"
 
 #define UI_TEXT_MOTOR_X                "I_x: %MX"
 #define UI_TEXT_MOTOR_Y                "I_y: %MY"

diff --git a/Repetier/uimenu.h b/Repetier/uimenu.h
@@ -901,12 +901,14 @@ UI_MENU_ACTION4C(ui_menu_pid_choose_some_ack,UI_ACTION_CHOOSE_SOME,UI_TEXT_PID_A
 UI_MENU_ACTIONSELECTOR(ui_menu_pid_choose_some,UI_ACTION_TEXT_SOME,ui_menu_pid_choose_some_ack)
 UI_MENU_ACTION4C(ui_menu_pid_choose_no_ack,UI_ACTION_CHOOSE_NO,UI_TEXT_PID_ACK)
 UI_MENU_ACTIONSELECTOR(ui_menu_pid_choose_no,UI_ACTION_TEXT_NO,ui_menu_pid_choose_no_ack)
+UI_MENU_ACTION4C(ui_menu_pid_choose_tyreus_lyben_ack,UI_ACTION_CHOOSE_TYREUS_LYBEN,UI_TEXT_PID_ACK)
+UI_MENU_ACTIONSELECTOR(ui_menu_pid_choose_tyreus_lyben,UI_ACTION_TEXT_TYREUS_LYBEN,ui_menu_pid_choose_tyreus_lyben_ack)
 UI_MENU_CHANGEACTION(ui_menu_pid_choose_drivemin,UI_TEXT_EXTR_DMIN,UI_ACTION_CHOOSE_DMIN)
 UI_MENU_CHANGEACTION(ui_menu_pid_choose_drivemax,UI_TEXT_EXTR_DMAX,UI_ACTION_CHOOSE_DMAX)
 UI_MENU_CHANGEACTION(ui_menu_pid_choose_PIDmax,UI_TEXT_EXTR_PMAX,UI_ACTION_CHOOSE_PIDMAX)
 UI_MENU_CHANGEACTION(ui_menu_pid_choose_sensor,UI_TEXT_EXTR_SENSOR_TYPE,UI_ACTION_CHOOSE_SENSOR)
 
-#define UI_MENU_PID_CHOOSE {UI_MENU_ADDCONDBACK &ui_menu_pid_choose_classicpid ,&ui_menu_pid_choose_lesserintegral, &ui_menu_pid_choose_some, &ui_menu_pid_choose_no, &ui_menu_pid_choose_drivemin, &ui_menu_pid_choose_drivemax, &ui_menu_pid_choose_PIDmax, &ui_menu_pid_choose_sensor}
+#define UI_MENU_PID_CHOOSE {UI_MENU_ADDCONDBACK &ui_menu_pid_choose_classicpid ,&ui_menu_pid_choose_lesserintegral, &ui_menu_pid_choose_some, &ui_menu_pid_choose_no, &ui_menu_pid_choose_tyreus_lyben, &ui_menu_pid_choose_drivemin, &ui_menu_pid_choose_drivemax, &ui_menu_pid_choose_PIDmax, &ui_menu_pid_choose_sensor}
 UI_MENU(ui_menu_pid_choose,UI_MENU_PID_CHOOSE,8) //8 ??? mit 9 gabs probleme. ???
 
 UI_MENU_SUBMENU(ui_menu_pid_ext0_cond,  UI_TEXT_EXTRUDER " 0", ui_menu_pid_choose)

diff --git a/changelog.txt b/changelog.txt
@@ -1,6 +1,10 @@
 TODO: Z-Lift-Bug seems to be still present! Avoid Z-Lift: Todo @Conrad -> Has this possibly been fixed by removing halfstepping in 1.37u4?
 TODO: Testing, testing ..
 
+V RF.01.37w8.Mod (2017-10-30)
+- Included PID autotune method Tyreus-Lyben
+- fixed readme
+
 V RF.01.37w7.Mod (2017-10-30)
 - Fix GT-2 (Sensor 8 / E3D) Temptable 222 -> 244