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[pidcontroller] Remove limits, make Ki dependent from the loop time, add reset command (#9759)

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* [pidcontroller] Remove limits, make Ki dependent from the loop time

Also fix naming of thread and shutdown executor.

Signed-off-by: Fabian Wolter <github@fabian-wolter.de>
This commit is contained in:
Fabian Wolter
2021-01-12 17:16:29 +01:00
committed by GitHub
parent d223696a8e
commit 795189d605
5 changed files with 61 additions and 54 deletions
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3
bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/PIDControllerConstants.java
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@@ -26,8 +26,7 @@ public class PIDControllerConstants {
public static final String AUTOMATION_NAME = "pidcontroller";
public static final String CONFIG_INPUT_ITEM = "input";
public static final String CONFIG_SETPOINT_ITEM = "setpoint";
public static final String CONFIG_OUTPUT_LOWER_LIMIT = "outputLowerLimit";
public static final String CONFIG_OUTPUT_UPPER_LIMIT = "outputUpperLimit";
public static final String CONFIG_COMMAND_ITEM = "commandItem";
public static final String CONFIG_LOOP_TIME = "loopTime";
public static final String CONFIG_KP_GAIN = "kp";
public static final String CONFIG_KI_GAIN = "ki";

29
bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/handler/PIDController.java
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@@ -25,9 +25,6 @@ import org.openhab.automation.pidcontroller.internal.LowpassFilter;
*/
@NonNullByDefault
class PIDController {
private final double outputLowerLimit;
private final double outputUpperLimit;
private double integralResult;
private double derivativeResult;
private double previousError;
@@ -38,17 +35,14 @@ class PIDController {
private double kd;
private double derivativeTimeConstantSec;
public PIDController(double outputLowerLimit, double outputUpperLimit, double kpAdjuster, double kiAdjuster,
double kdAdjuster, double derivativeTimeConstantSec) {
this.outputLowerLimit = outputLowerLimit;
this.outputUpperLimit = outputUpperLimit;
public PIDController(double kpAdjuster, double kiAdjuster, double kdAdjuster, double derivativeTimeConstantSec) {
this.kp = kpAdjuster;
this.ki = kiAdjuster;
this.kd = kdAdjuster;
this.derivativeTimeConstantSec = derivativeTimeConstantSec;
}
public PIDOutputDTO calculate(double input, double setpoint, long lastInvocationMs) {
public PIDOutputDTO calculate(double input, double setpoint, long lastInvocationMs, int loopTimeMs) {
final double lastInvocationSec = lastInvocationMs / 1000d;
final double error = setpoint - input;
@@ -60,13 +54,7 @@ class PIDController {
}
// integral calculation
integralResult += error * lastInvocationSec;
// limit to output limits
if (ki != 0) {
final double maxIntegral = outputUpperLimit / ki;
final double minIntegral = outputLowerLimit / ki;
integralResult = Math.min(maxIntegral, Math.max(minIntegral, integralResult));
}
integralResult += error * lastInvocationMs / loopTimeMs;
// calculate parts
final double proportionalPart = kp * error;
@@ -74,9 +62,14 @@ class PIDController {
final double derivativePart = kd * derivativeResult;
output = proportionalPart + integralPart + derivativePart;
// limit output value
output = Math.min(outputUpperLimit, Math.max(outputLowerLimit, output));
return new PIDOutputDTO(output, proportionalPart, integralPart, derivativePart, error);
}
public void setIntegralResult(double integralResult) {
this.integralResult = integralResult;
}
public void setDerivativeResult(double derivativeResult) {
this.derivativeResult = derivativeResult;
}
}

35
bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/handler/PIDControllerTriggerHandler.java
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@@ -18,6 +18,7 @@ import java.math.BigDecimal;
import java.util.HashMap;
import java.util.Map;
import java.util.Objects;
import java.util.Optional;
import java.util.Set;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
@@ -62,7 +63,7 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
private static final Set<String> SUBSCRIBED_EVENT_TYPES = Set.of(ItemStateEvent.TYPE, ItemStateChangedEvent.TYPE);
private final Logger logger = LoggerFactory.getLogger(PIDControllerTriggerHandler.class);
private final ScheduledExecutorService scheduler = Executors
.newSingleThreadScheduledExecutor(new NamedThreadFactory("OH-automation-" + AUTOMATION_NAME, true));
.newSingleThreadScheduledExecutor(new NamedThreadFactory("automation-" + AUTOMATION_NAME, true));
private final ServiceRegistration<?> eventSubscriberRegistration;
private final PIDController controller;
private final int loopTimeMs;
@@ -70,6 +71,7 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
private long previousTimeMs = System.currentTimeMillis();
private Item inputItem;
private Item setpointItem;
private Optional<String> commandTopic;
private EventFilter eventFilter;
public PIDControllerTriggerHandler(Trigger module, ItemRegistry itemRegistry, EventPublisher eventPublisher,
@@ -93,8 +95,13 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
throw new IllegalArgumentException("Configured setpoint item not found: " + setpointItemName, e);
}
double outputLowerLimit = getDoubleFromConfig(config, CONFIG_OUTPUT_LOWER_LIMIT);
double outputUpperLimit = getDoubleFromConfig(config, CONFIG_OUTPUT_UPPER_LIMIT);
String commandItemName = (String) config.get(CONFIG_COMMAND_ITEM);
if (commandItemName != null) {
commandTopic = Optional.of("openhab/items/" + commandItemName + "/statechanged");
} else {
commandTopic = Optional.empty();
}
double kpAdjuster = getDoubleFromConfig(config, CONFIG_KP_GAIN);
double kiAdjuster = getDoubleFromConfig(config, CONFIG_KI_GAIN);
double kdAdjuster = getDoubleFromConfig(config, CONFIG_KD_GAIN);
@@ -103,15 +110,15 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
loopTimeMs = ((BigDecimal) requireNonNull(config.get(CONFIG_LOOP_TIME), CONFIG_LOOP_TIME + " is not set"))
.intValue();
controller = new PIDController(outputLowerLimit, outputUpperLimit, kpAdjuster, kiAdjuster, kdAdjuster,
kdTimeConstant);
controller = new PIDController(kpAdjuster, kiAdjuster, kdAdjuster, kdTimeConstant);
eventFilter = event -> {
String topic = event.getTopic();
return topic.equals("openhab/items/" + inputItemName + "/state")
|| topic.equals("openhab/items/" + inputItemName + "/statechanged")
|| topic.equals("openhab/items/" + setpointItemName + "/statechanged");
|| topic.equals("openhab/items/" + setpointItemName + "/statechanged")
|| commandTopic.map(t -> topic.equals(t)).orElse(false);
};
eventSubscriberRegistration = bundleContext.registerService(EventSubscriber.class.getName(), this, null);
@@ -152,7 +159,7 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
long now = System.currentTimeMillis();
PIDOutputDTO output = controller.calculate(input, setpoint, now - previousTimeMs);
PIDOutputDTO output = controller.calculate(input, setpoint, now - previousTimeMs, loopTimeMs);
previousTimeMs = now;
Map<String, BigDecimal> outputs = new HashMap<>();
@@ -198,7 +205,17 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
@Override
public void receive(Event event) {
if (event instanceof ItemStateChangedEvent) {
calculate();
if (event.getTopic().equals(commandTopic.get())) {
ItemStateChangedEvent changedEvent = (ItemStateChangedEvent) event;
if ("RESET".equals(changedEvent.getItemState().toString())) {
controller.setIntegralResult(0);
controller.setDerivativeResult(0);
} else {
logger.warn("Unknown command: {}", changedEvent.getItemState());
}
} else {
calculate();
}
}
}
@@ -221,6 +238,8 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
localControllerjob.cancel(true);
}
scheduler.shutdown();
super.dispose();
}
}

21
bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/type/PIDControllerTriggerType.java
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@@ -44,23 +44,22 @@ public class PIDControllerTriggerType extends TriggerType {
.withRequired(true).withReadOnly(true).withMultiple(false).withContext("item").withLabel("Setpoint")
.withDescription("Targeted setpoint").build());
configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_KP_GAIN, Type.DECIMAL).withRequired(true)
.withMultiple(false).withDefault("1.0").withLabel("Proportional Gain (Kp)")
.withMultiple(false).withDefault("1.0").withMinimum(BigDecimal.ZERO).withLabel("Proportional Gain (Kp)")
.withDescription("Change to output propertional to current error value.").build());
configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_KI_GAIN, Type.DECIMAL).withRequired(true)
.withMultiple(false).withDefault("1.0").withLabel("Integral Gain (Ki)")
.withMultiple(false).withDefault("1.0").withMinimum(BigDecimal.ZERO).withLabel("Integral Gain (Ki)")
.withDescription("Accelerate movement towards the setpoint.").build());
configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_KD_GAIN, Type.DECIMAL).withRequired(true)
.withMultiple(false).withDefault("1.0").withLabel("Derivative Gain (Kd)")
.withMultiple(false).withDefault("1.0").withMinimum(BigDecimal.ZERO).withLabel("Derivative Gain (Kd)")
.withDescription("Slows the rate of change of the output.").build());
configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_KD_TIMECONSTANT, Type.DECIMAL)
.withRequired(true).withMultiple(false).withDefault("1.0").withLabel("Derivative Time Constant")
.withDescription("Slows the rate of change of the D Part (T1) in seconds.").withUnit("s").build());
configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_OUTPUT_LOWER_LIMIT, Type.DECIMAL)
.withRequired(true).withMultiple(false).withDefault("0").withLabel("Output Lower Limit")
.withDescription("The output of the PID controller will be min this value").build());
configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_OUTPUT_UPPER_LIMIT, Type.DECIMAL)
.withRequired(true).withMultiple(false).withDefault("100").withLabel("Output Upper Limit")
.withDescription("The output of the PID controller will be max this value").build());
.withRequired(true).withMultiple(false).withMinimum(BigDecimal.ZERO).withDefault("1.0")
.withLabel("Derivative Time Constant")
.withDescription("Slows the rate of change of the D part (T1) in seconds.").withUnit("s").build());
configDescriptions
.add(ConfigDescriptionParameterBuilder.create(CONFIG_COMMAND_ITEM, Type.TEXT).withRequired(false)
.withReadOnly(true).withMultiple(false).withContext("item").withLabel("Command Item")
.withDescription("You can send String commands to this Item like \"RESET\".").build());
configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_LOOP_TIME, Type.DECIMAL)
.withRequired(true).withMultiple(false).withDefault(DEFAULT_LOOPTIME_MS).withLabel("Loop Time")
.withDescription("The interval the output value is updated in ms").withUnit("ms").build());