PID Climate (#885)

* PID Climate * Add sensor for debugging PID output value * Add dump_config, use percent * Add more observable values * Update * Set target temperature * Add autotuner * Add algorithm explanation * Add autotuner action, update controller * Add simulator * Format * Change defaults * Updates
2026-06-13 08:03:32 +02:00 · 2020-01-04 12:43:11 +01:00
parent 05f9dede70
commit a6d31f05ee
11 changed files with 1064 additions and 0 deletions
@@ -0,0 +1,110 @@
+#pragma once
+
+#include "esphome/core/component.h"
+#include "esphome/core/optional.h"
+#include "pid_controller.h"
+#include "pid_simulator.h"
+
+namespace esphome {
+namespace pid {
+
+class PIDAutotuner {
+ public:
+  struct PIDResult {
+    float kp;
+    float ki;
+    float kd;
+  };
+  struct PIDAutotuneResult {
+    float output;
+    optional<PIDResult> result_params;
+  };
+
+  void config(float output_min, float output_max) {
+    relay_function_.output_negative = std::max(relay_function_.output_negative, output_min);
+    relay_function_.output_positive = std::min(relay_function_.output_positive, output_max);
+  }
+  PIDAutotuneResult update(float setpoint, float process_variable);
+  bool is_finished() const { return state_ != AUTOTUNE_RUNNING; }
+
+  void dump_config();
+
+  void set_noiseband(float noiseband) {
+    relay_function_.noiseband = noiseband;
+    // ZC detector uses 1/4 the noiseband of relay function (noise suppression)
+    frequency_detector_.noiseband = noiseband / 4;
+  }
+  void set_output_positive(float output_positive) { relay_function_.output_positive = output_positive; }
+  void set_output_negative(float output_negative) { relay_function_.output_negative = output_negative; }
+
+ protected:
+  struct RelayFunction {
+    float update(float error);
+
+    float current_target_error() const {
+      if (state == RELAY_FUNCTION_INIT)
+        return 0;
+      if (state == RELAY_FUNCTION_POSITIVE)
+        return -noiseband;
+      return noiseband;
+    }
+
+    enum RelayFunctionState {
+      RELAY_FUNCTION_INIT,
+      RELAY_FUNCTION_POSITIVE,
+      RELAY_FUNCTION_NEGATIVE,
+    } state = RELAY_FUNCTION_INIT;
+    float noiseband = 0.5;
+    float output_positive = 1;
+    float output_negative = -1;
+    uint32_t phase_count = 0;
+  } relay_function_;
+  struct OscillationFrequencyDetector {
+    void update(uint32_t now, float error);
+
+    bool has_enough_data() const;
+
+    float get_mean_oscillation_period() const;
+
+    bool is_increase_decrease_symmetrical() const;
+
+    enum FrequencyDetectorState {
+      FREQUENCY_DETECTOR_INIT,
+      FREQUENCY_DETECTOR_POSITIVE,
+      FREQUENCY_DETECTOR_NEGATIVE,
+    } state;
+    float noiseband = 0.05;
+    uint32_t last_zerocross{0};
+    std::vector<uint32_t> zerocrossing_intervals;
+  } frequency_detector_;
+  struct OscillationAmplitudeDetector {
+    void update(float error, RelayFunction::RelayFunctionState relay_state);
+
+    bool has_enough_data() const;
+
+    float get_mean_oscillation_amplitude() const;
+
+    bool is_amplitude_convergent() const;
+
+    float phase_min = NAN;
+    float phase_max = NAN;
+    std::vector<float> phase_mins;
+    std::vector<float> phase_maxs;
+    RelayFunction::RelayFunctionState last_relay_state = RelayFunction::RELAY_FUNCTION_INIT;
+  } amplitude_detector_;
+  PIDResult calculate_pid_(float kp_factor, float ki_factor, float kd_factor);
+  void print_rule_(const char *name, float kp_factor, float ki_factor, float kd_factor);
+  PIDResult get_ziegler_nichols_pid_() { return calculate_pid_(0.6f, 1.2f, 0.075f); }
+
+  uint32_t enough_data_phase_ = 0;
+  float setpoint_ = NAN;
+  enum State {
+    AUTOTUNE_RUNNING,
+    AUTOTUNE_SUCCEEDED,
+  } state_ = AUTOTUNE_RUNNING;
+  float ku_;
+  float pu_;
+};
+
+}  // namespace pid
+}  // namespace esphome