moved pids into pumps and mixer, hysteresis of boiler charging

cBoiler.cpp

@@ -2,19 +2,18 @@
 
 cBoiler::cBoiler(cRooms* Rooms_,cWarmWater* WarmWater_)
 :Valve(PinValveBoilerOpen,PinValveBoilerClose),
-pid( 1.05, 0.0, 10.5, REVERSE), //I= 0.063
 TempCharge((&MPNumSys[0]),(&MPChanSys[idxTempBoilerCharge]),(&SysTempOffset[idxTempBoilerCharge])),
 TempReserve1((&MPNumSys[0]),(&MPChanSys[idxTempBoilerReserve1]),(&SysTempOffset[idxTempBoilerReserve1])),
 TempReserve2((&MPNumSys[0]),(&MPChanSys[idxTempBoilerReserve2]),(&SysTempOffset[idxTempBoilerReserve2])),
 TempHead((&MPNumSys[0]),&MPChanSys[idxTempBoilerHead],(&SysTempOffset[idxTempBoilerHead])),
 TempTop((&MPNumSys[0]),&MPChanSys[idxTempBoilerTop],(&SysTempOffset[idxTempBoilerTop])),
-Pump(PinPumpBoiler)
+Pump(PinPumpBoiler,1.05, 0.0, 10.5, REVERSE) //I= 0.063
 {
 	Rooms = Rooms_;
 	WarmWater = WarmWater_;
 	ChargeMargin = DefaultChargeMargin;
 	// Set minimal Pump Power to 10%
-	pid.SetOutputLimits(0.1, 1);
+	Pump.SetOutputLimits(0.1, 1);
 }
 
 void cBoiler::getSP( JsonObject& root )
@@ -57,7 +56,7 @@ void cBoiler::getData( JsonObject& root )
 	root["BT3"] = TempReserve1.get();
 	root["BT4"] = TempReserve2.get();
 
-	root["BP"] =  pid.get();
+	root["BP"] =  Pump.get();
 	root["BncW"] =  static_cast<int>( bneedChargeWarmWater);
 	root["BncH"] =  static_cast<int>( bneedChargeHeating);
 	root["Bdisc"] =  static_cast<int>( bDischarging);

cBoiler.h

@@ -60,16 +60,27 @@ class cBoiler
 		return bneedChargeHeating;
 	}
 
-	void charge(boolean bCharge, float TempChargeSource)
+	void charge(float TempHeatSource)
 	{
-		bCharging = bCharge;
+		boolean need = (bneedChargeWarmWater || bneedChargeHeating);
+
+		if (need) // if charging is needed, charging is fixed to true
+			bCharging = true;
+		else // Hysteresis
+		{
+			if (getSpTempCharge()+2 < TempHeatSource)
+				bCharging = true;
+			if (getSpTempCharge() > TempHeatSource)
+				bCharging = false;
+		}
 
 		Valve.set((bDischarging || bCharging)); // Open Valve if charging or discharging
 
-		if (bCharge) // Run Pump
-			Pump.setPower(pid.run(getSpTempCharge(), TempChargeSource));
+		if (bCharging) // Run Pump
+			Pump.run(getSpTempCharge(), TempHeatSource);
 		else // Stop Charging: Stop PID and Pump
-			Pump.setPower(pid.run());
+			Pump.run();
+
 	}
 
 	void discharge( boolean bNeedSourceBoiler )
@@ -87,7 +98,6 @@ class cBoiler
 
 	cValve Valve;
 	cPump Pump;
-	cPID pid;
 
 	// May become private again (debug)
 	cTempSensor TempCharge;

cHeating.cpp

@@ -146,24 +146,22 @@ void cHeating::selectSink( int Sink )
 	switch (Sink) {
 		case SiChargeWarmWater: {
 			Rooms.ChargeRooms(false);
-			Boiler.charge(true, TempSource);
+			Boiler.charge(TempSource);
 			break;
 		}
 		case SiChargeRooms: {
-			boolean ChargeBoilerAndRooms = (Burner.TempOperation.get() > Boiler.getSpTempCharge()) // Burner residual heat
-											||(Solar.TempFromCollector.get()-4 > Boiler.getSpTempCharge()); // Solar residual heat
-			Rooms.ChargeRooms(true, ChargeBoilerAndRooms);
-			Boiler.charge(ChargeBoilerAndRooms, TempSource);
+			Rooms.ChargeRooms(true);
+			Boiler.charge(TempSource);
 			break;
 		}
 		case SiChargeHeating: {
 			Rooms.ChargeRooms(false);
-			Boiler.charge(true, TempSource);
+			Boiler.charge(TempSource);
 			break;
 		}
 		case SiOff: default: {
 			Rooms.ChargeRooms(false);
-			Boiler.charge(false, TempSource);
+			Boiler.charge(TempSource);
 			break;
 		}
 	}

cMixer.h

@@ -4,26 +4,65 @@
 #include "Arduino.h"
 
 #include "cLFPWM.h"
+#include <PID_v1.h>
 
-class cMixer
+class cMixer  : public PID
 {
 	public:
 	/// Creates the mixer
-	cMixer(int pinOpen_, int pinClose_):PWM(5000){
+	cMixer(int pinOpen_, int pinClose_,double p, double i, double d, int mode):
+	PWM(5000),
+	PID(&Is, &Power, &Setpoint, p, i, d, mode)
+	{
 		pinOpen = pinOpen_;
 		pinMode(pinOpen, OUTPUT);
 
 		pinClose = pinClose_;
 		pinMode(pinClose, OUTPUT);
-	};
+
+		Is = 0;
+		Power = 0;
+		Setpoint = 0;
+	}
 
 	/// Set the power in percent
 	/** Drives the mixer with a certain power (abs) into a direction (sign: open or close)
 	\param Power the desired power in percent */
-	void run(double Power)
+	void run(double Power_)
 	{
-		boolean direction = (Power>=0);
+		Power = Power_;
+		SetMode(MANUAL);
+		Compute();
 
+		run();
+	}
+
+	double run(double Setpoint_, double Is_)
+	{
+		Is = Is_;
+		Setpoint = Setpoint_;
+		SetMode(AUTOMATIC);
+		Compute();
+
+		run();
+
+		return Power;
+	}
+
+	double get(void){return Power;}
+
+	private:
+	cLFPWM PWM;
+	int pinOpen;
+	int pinClose;
+
+	double Is;
+	double Setpoint;
+	double Power;
+
+	void run()
+	{
+		boolean direction = (Power>=0);
 		// Check PWM and hysteresis
 		if(PWM.get(abs(Power))&&(abs(Power)> 0.0)) {
 			// Drive in direction
@@ -36,13 +75,6 @@ class cMixer
 			digitalWrite(pinOpen, HIGH);
 		}
 	}
-
-	//float get(void){return PWM.getPower();}
-
-	private:
-	cLFPWM PWM;
-	int pinOpen;
-	int pinClose;
 };
 
 #endif

cPump.h

@@ -4,42 +4,69 @@
 #include "Arduino.h"
 #include "PinDefinitions.h"
 #include "cLFPWM.h"
-#include <cPID.h>
+#include <PID_v1.h>
 
 #define PWMPeriod 2000
 
-class cPump
+class cPump : public PID
 {
 	public:
 	/// Creates a pump object with a certain pin.
 	/** The power of the pump is set to zero by default.*/
 	/** \param PinPump the pin used to drive the Pump*/
 	/** \param Power the power the pump in percent*/
-	cPump(int PinPump_,float p= 0.0, float i= 0.0, float d= 0.0, double Power = 0.0):
+	cPump(int PinPump_,float p, float i, float d, int mode, double Power = 0.0):
 	PWM(PWMPeriod),
-	pid(p, i, d, DIRECT)
+	PID(&Is, &Power, &Setpoint, p, i, d, mode)
 	{
 		PinPump = PinPump_;
 		pinMode(PinPump, OUTPUT);
-		setPower(Power);
+
+		Is = 0;
+		Power = 0;
+		Setpoint = 0;
+
+		run();
 	}
-
 	/// Set the power of the pump in percent
 	/** Set the power of the pump in percent and execute
-	\param Value of the desired power in percent*/
-	void setPower( double Power )
+	\param Power_ in percent*/
+	double run(double Power_ = 0.0)
+	{
+		Power = Power_;
+		SetMode(MANUAL);
+
+		Compute();
+		// Pump is running if switching time of PWM is not yet exceeded
+		digitalWrite(PinPump, !PWM.get(Power)); // Pump switched on if true and off if false
+		return Power;
+	}
+	/// Regulate the power by pid controller
+	/** Update setpoint and is value, then execute pid controller and set pump
+	\param Setpoint_ update Setpoint value
+	\param Is_ update Is value*/
+	double run(double Setpoint_, double Is_)
 	{
-		// Limit Power
-		Power = max(min(Power,1.0),0.0);
+		Is = Is_;
+		Setpoint = Setpoint_;
+		SetMode(AUTOMATIC);
 
+		Compute();
 		// Pump is running if switching time of PWM is not yet exceeded
 		digitalWrite(PinPump, !PWM.get(Power)); // Pump switched on if true and off if false
+		return Power;
 	}
 
-	cPID pid;
+	double get(void)
+	{
+		return Power;
+	}
 
 	private:
 	int PinPump;
+	double Is;
+	double Setpoint;
+	double Power;
 
 	cLFPWM PWM;
 

cRooms.cpp

@@ -4,16 +4,14 @@ cRooms::cRooms( void ):
 IsTempHeatingLead((&MPNumSys[0]),(&MPChanSys[idxTempHeatingLead]),(&SysTempOffset[idxTempHeatingLead])),
 IsTempHeatingReturn((&MPNumSys[0]),(&MPChanSys[idxTempHeatingReturn]),(&SysTempOffset[idxTempHeatingReturn])),
 TempOutside((&MPNumSys[0]),(&MPChanSys[idxTempOutside]),(&SysTempOffset[idxTempOutside])),
-PIDPump( 0.5, 0.0, 0.0, DIRECT),
-PIDMixer( 0.2, 0.0, 2.0, DIRECT),
-Pump(PinPumpHeating,0.5, 0.0, 0.0, DIRECT),
-Mixer(PinMixerOpen,PinMixerClose)
+Pump(PinPumpHeating,0.5, 0.0, 0.0, DIRECT, 0.0),
+Mixer(PinMixerOpen,PinMixerClose, 0.2, 0.0, 2.0, DIRECT)
 {
 	SetType = Normal;
 	// Initialize PID controllers for pumps
-	PIDPump.SetOutputLimits(0.3, 1.0);
-	PIDMixer.SetOutputLimits(-1.0, 1.0);
-	PIDMixer.SetSampleTime(500);
+	Pump.SetOutputLimits(0.3, 1.0);
+	Mixer.SetOutputLimits(-1.0, 1.0);
+	Mixer.SetSampleTime(500);
 
 	dMaxDiff =0;
 	dMaxSp = 0;
@@ -75,39 +73,21 @@ void cRooms::initDefaultSetpoint()
 }
 
 
-void cRooms::ChargeRooms( boolean ChargeRooms, boolean BoilerCharges )
+void cRooms::ChargeRooms( boolean ChargeRooms )
 {
-	dSpTempHeatingLead = getSpHeating();
-	dIsTempHeatingLead = IsTempHeatingLead.get();
-	dSpTempHeatingReturn = getSpHeating()-DiffTempHeatingLeadReturn;
-	dIsTempHeatingReturn = IsTempHeatingReturn.get();
+	double SpTempHeatingReturn = getSpHeating()-DiffTempHeatingLeadReturn;
 
 	if (ChargeRooms)
 	{
-
-		// Run Mixer and PID
-		Mixer.run(PIDMixer.run(dSpTempHeatingLead, dIsTempHeatingLead));
-
-		// Run heating pump and PID
-		if (BoilerCharges)
-		{
-			// If Boiler is charged, run heating pump at full speed.
-			// The Boiler is collecting the remaining heat from the source.
-			PIDPump.run();
-			Pump.setPower(1.0);
-		}
-		else
-		{
-			Pump.setPower(PIDPump.run(dSpTempHeatingReturn, dIsTempHeatingReturn));
-		}
+		// Run Pump and Mixer
+		Mixer.run(getSpHeating(), IsTempHeatingLead.get());
+		Pump.run(SpTempHeatingReturn, IsTempHeatingReturn.get());
 	}
 	else
 	{
-		// Stop Pump Heating and PID
-		PIDPump.run();
-		Pump.setPower(0.0);
-		// Stop mixer PID and run Mixer to closed position
-		PIDMixer.run();
+		// Stop Pump Heating
+		Pump.run(0.0);
+		// Close Mixer
 		Mixer.run(-1.0);
 	}
 }
@@ -202,7 +182,6 @@ int cRooms::setOffsetTime( JsonObject& root )
 	return 0;
 }
 
-
 void cRooms::getOffsetTemp( JsonObject& root )
 {
 	JsonArray&  temps  = root.createNestedArray("RTs");
@@ -222,7 +201,6 @@ void cRooms::getOffsetTemp( JsonObject& root )
 	}
 }
 
-
 int cRooms::setOffsetTemp( JsonObject& root )
 {
 	if(root.containsKey("RTs")) {
@@ -338,6 +316,6 @@ void cRooms::getData( JsonObject& root )
 
 	root["RTitoR"] = IsTempHeatingLead.get();
 	root["RTitoSys"] = IsTempHeatingReturn.get();
-	root["RP"] = PIDPump.get();
-	root["RM"] = PIDMixer.get();
+	root["RP"] = Pump.get();
+	root["RM"] = Mixer.get();
 }