mirror of https://github.com/Desuuuu/klipper.git
127 lines
5.5 KiB
Python
127 lines
5.5 KiB
Python
# Support fans that are enabled when temperature exceeds a set threshold
|
|
#
|
|
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import fan
|
|
|
|
KELVIN_TO_CELCIUS = -273.15
|
|
MAX_FAN_TIME = 5.0
|
|
AMBIENT_TEMP = 25.
|
|
PID_PARAM_BASE = 255.
|
|
|
|
class TemperatureFan:
|
|
def __init__(self, config):
|
|
self.name = config.get_name().split()[1]
|
|
self.printer = config.get_printer()
|
|
self.fan = fan.PrinterFan(config, default_shutdown_speed=1.)
|
|
self.mcu = self.fan.mcu_fan.get_mcu()
|
|
self.min_temp = config.getfloat('min_temp', minval=KELVIN_TO_CELCIUS)
|
|
self.max_temp = config.getfloat('max_temp', above=self.min_temp)
|
|
self.sensor = self.printer.lookup_object('heater').setup_sensor(config)
|
|
self.sensor.setup_minmax(self.min_temp, self.max_temp)
|
|
self.sensor.setup_callback(self.temperature_callback)
|
|
self.printer.lookup_object('heater').register_sensor(config, self)
|
|
self.speed_delay = self.sensor.get_report_time_delta()
|
|
self.max_speed = config.getfloat('max_speed', 1., above=0., maxval=1.)
|
|
self.min_speed = config.getfloat('min_speed', 0.3, above=0., maxval=1.)
|
|
self.last_temp = 0.
|
|
self.last_temp_time = 0.
|
|
self.target_temp = config.getfloat(
|
|
'target_temp', 40. if self.max_temp > 40. else self.max_temp,
|
|
minval=self.min_temp, maxval=self.max_temp)
|
|
algos = {'watermark': ControlBangBang, 'pid': ControlPID}
|
|
algo = config.getchoice('control', algos)
|
|
self.control = algo(self, config)
|
|
self.next_speed_time = 0.
|
|
self.last_speed_value = 0.
|
|
def set_speed(self, read_time, value):
|
|
if value < self.min_speed:
|
|
value = 0.
|
|
if self.target_temp <= 0.:
|
|
value = 0.
|
|
if ((read_time < self.next_speed_time or not self.last_speed_value)
|
|
and abs(value - self.last_speed_value) < 0.05):
|
|
# No significant change in value - can suppress update
|
|
return
|
|
speed_time = read_time + self.speed_delay
|
|
self.next_speed_time = speed_time + 0.75 * MAX_FAN_TIME
|
|
self.last_speed_value = value
|
|
self.fan.set_speed(speed_time, value)
|
|
def temperature_callback(self, read_time, temp):
|
|
self.last_temp = temp
|
|
self.control.temperature_callback(read_time, temp)
|
|
def get_temp(self, eventtime):
|
|
return self.last_temp, self.target_temp
|
|
|
|
######################################################################
|
|
# Bang-bang control algo
|
|
######################################################################
|
|
|
|
class ControlBangBang:
|
|
def __init__(self, temperature_fan, config):
|
|
self.temperature_fan = temperature_fan
|
|
self.max_delta = config.getfloat('max_delta', 2.0, above=0.)
|
|
self.heating = False
|
|
def temperature_callback(self, read_time, temp):
|
|
if (self.heating
|
|
and temp >= self.temperature_fan.target_temp+self.max_delta):
|
|
self.heating = False
|
|
elif (not self.heating
|
|
and temp <= self.temperature_fan.target_temp-self.max_delta):
|
|
self.heating = True
|
|
if self.heating:
|
|
self.temperature_fan.set_speed(read_time, 0.)
|
|
else:
|
|
self.temperature_fan.set_speed(read_time,
|
|
self.temperature_fan.max_speed)
|
|
|
|
######################################################################
|
|
# Proportional Integral Derivative (PID) control algo
|
|
######################################################################
|
|
|
|
PID_SETTLE_DELTA = 1.
|
|
PID_SETTLE_SLOPE = .1
|
|
|
|
class ControlPID:
|
|
def __init__(self, temperature_fan, config):
|
|
self.temperature_fan = temperature_fan
|
|
self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE
|
|
self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE
|
|
self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE
|
|
self.min_deriv_time = config.getfloat('pid_deriv_time', 2., above=0.)
|
|
imax = config.getfloat('pid_integral_max', temperature_fan.max_speed,
|
|
minval=0.)
|
|
self.temp_integ_max = imax / self.Ki
|
|
self.prev_temp = AMBIENT_TEMP
|
|
self.prev_temp_time = 0.
|
|
self.prev_temp_deriv = 0.
|
|
self.prev_temp_integ = 0.
|
|
def temperature_callback(self, read_time, temp):
|
|
time_diff = read_time - self.prev_temp_time
|
|
# Calculate change of temperature
|
|
temp_diff = temp - self.prev_temp
|
|
if time_diff >= self.min_deriv_time:
|
|
temp_deriv = temp_diff / time_diff
|
|
else:
|
|
temp_deriv = (self.prev_temp_deriv * (self.min_deriv_time-time_diff)
|
|
+ temp_diff) / self.min_deriv_time
|
|
# Calculate accumulated temperature "error"
|
|
temp_err = self.temperature_fan.target_temp - temp
|
|
temp_integ = self.prev_temp_integ + temp_err * time_diff
|
|
temp_integ = max(0., min(self.temp_integ_max, temp_integ))
|
|
# Calculate output
|
|
co = self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv
|
|
bounded_co = max(0., min(self.temperature_fan.max_speed, co))
|
|
self.temperature_fan.set_speed(
|
|
read_time, self.temperature_fan.max_speed - bounded_co)
|
|
# Store state for next measurement
|
|
self.prev_temp = temp
|
|
self.prev_temp_time = read_time
|
|
self.prev_temp_deriv = temp_deriv
|
|
if co == bounded_co:
|
|
self.prev_temp_integ = temp_integ
|
|
|
|
def load_config_prefix(config):
|
|
return TemperatureFan(config)
|