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[pidcontroller] Remove limits, make Ki dependent from the loop time, add reset command (#9759)
* [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>
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Fabian Wolter
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795189d605
@ -22,20 +22,17 @@ This module triggers whenever the `input` or the `setpoint` changes or the `loop
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Every trigger calculates the P, the I and the D part and sums them up to form the `output` value.
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This is then transferred to the action module.
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| Name | Type | Description | Required |
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|--------------------|---------|----------------------------------------------------------------------------------------------------------------------------------------------------|----------|
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| `input` | Item | Name of the input [Item](https://www.openhab.org/docs/configuration/items.html) (e.g. temperature sensor value) | Y |
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| `setpoint` | Item | Name of the setpoint Item (e.g. desired room temperature) | Y |
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| `kp` | Decimal | P: [Proportional Gain](#proportional-p-gain-parameter) Parameter | Y |
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| `ki` | Decimal | I: [Integral Gain](#integral-i-gain-parameter) Parameter | Y |
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| `kd` | Decimal | D: [Derivative Gain](#derivative-d-gain-parameter) Parameter | Y |
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| `kdTimeConstant` | Decimal | D-T1: [Derivative Gain Time Constant](#derivative-time-constant-d-t1-parameter) in sec. | Y |
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| `outputLowerLimit` | Decimal | The output of the PID controller will be max this value | Y |
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| `outputUpperLimit` | Decimal | The output of the PID controller will be min this value | Y |
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| `loopTime` | Decimal | The interval the output value will be updated in milliseconds. Note: the output will also be updated when the input value or the setpoint changes. | Y |
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| Name | Type | Description | Required |
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|------------------|---------|----------------------------------------------------------------------------------------------------------------------------------------------------|----------|
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| `input` | Item | Name of the input [Item](https://www.openhab.org/docs/configuration/items.html) (e.g. temperature sensor value) | Y |
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| `setpoint` | Item | Name of the setpoint Item (e.g. desired room temperature) | Y |
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| `kp` | Decimal | P: [Proportional Gain](#proportional-p-gain-parameter) Parameter | Y |
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| `ki` | Decimal | I: [Integral Gain](#integral-i-gain-parameter) Parameter | Y |
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| `kd` | Decimal | D: [Derivative Gain](#derivative-d-gain-parameter) Parameter | Y |
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| `kdTimeConstant` | Decimal | D-T1: [Derivative Gain Time Constant](#derivative-time-constant-d-t1-parameter) in sec. | Y |
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| `commandItem` | String | Send a String "RESET" to this item to reset the I and the D part to 0. | N |
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| `loopTime` | Decimal | The interval the output value will be updated in milliseconds. Note: the output will also be updated when the input value or the setpoint changes. | Y |
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The purpose of the limit parameters are to keep the output value and the integral value in a reasonable range, if the regulation cannot meet its setpoint.
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E.g. the window is open and the heater doesn't manage to heat up the room.
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The `loopTime` should be max a tenth of the system response.
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E.g. the heating needs 10 min to heat up the room, the loop time should be max 1 min.
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@ -76,8 +73,8 @@ The bigger this parameter, the faster the drifting.
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A value of 0 disables the I part.
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A value of 1 adds the current setpoint deviation (error) to the output each second.
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E.g. the setpoint is 25°C and the measured value is 20°C, the output will be set to 5 after 1 sec.
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A value of 1 adds the current setpoint deviation (error) to the output each `loopTime` (in milliseconds).
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E.g. (`loopTimeMs=1000`) the setpoint is 25°C and the measured value is 20°C, the output will be set to 5 after 1 sec.
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After 2 sec the output will be 10.
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If the output is the opening of a valve in %, you might want to set this parameter to a lower value (`ki=0.1` would result in 30% after 60 sec: 5\*0.1\*60=30).
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@ -26,8 +26,7 @@ public class PIDControllerConstants {
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public static final String AUTOMATION_NAME = "pidcontroller";
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public static final String CONFIG_INPUT_ITEM = "input";
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public static final String CONFIG_SETPOINT_ITEM = "setpoint";
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public static final String CONFIG_OUTPUT_LOWER_LIMIT = "outputLowerLimit";
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public static final String CONFIG_OUTPUT_UPPER_LIMIT = "outputUpperLimit";
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public static final String CONFIG_COMMAND_ITEM = "commandItem";
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public static final String CONFIG_LOOP_TIME = "loopTime";
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public static final String CONFIG_KP_GAIN = "kp";
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public static final String CONFIG_KI_GAIN = "ki";
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@ -25,9 +25,6 @@ import org.openhab.automation.pidcontroller.internal.LowpassFilter;
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*/
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@NonNullByDefault
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class PIDController {
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private final double outputLowerLimit;
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private final double outputUpperLimit;
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private double integralResult;
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private double derivativeResult;
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private double previousError;
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@ -38,17 +35,14 @@ class PIDController {
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private double kd;
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private double derivativeTimeConstantSec;
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public PIDController(double outputLowerLimit, double outputUpperLimit, double kpAdjuster, double kiAdjuster,
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double kdAdjuster, double derivativeTimeConstantSec) {
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this.outputLowerLimit = outputLowerLimit;
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this.outputUpperLimit = outputUpperLimit;
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public PIDController(double kpAdjuster, double kiAdjuster, double kdAdjuster, double derivativeTimeConstantSec) {
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this.kp = kpAdjuster;
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this.ki = kiAdjuster;
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this.kd = kdAdjuster;
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this.derivativeTimeConstantSec = derivativeTimeConstantSec;
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}
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public PIDOutputDTO calculate(double input, double setpoint, long lastInvocationMs) {
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public PIDOutputDTO calculate(double input, double setpoint, long lastInvocationMs, int loopTimeMs) {
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final double lastInvocationSec = lastInvocationMs / 1000d;
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final double error = setpoint - input;
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@ -60,13 +54,7 @@ class PIDController {
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}
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// integral calculation
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integralResult += error * lastInvocationSec;
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// limit to output limits
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if (ki != 0) {
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final double maxIntegral = outputUpperLimit / ki;
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final double minIntegral = outputLowerLimit / ki;
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integralResult = Math.min(maxIntegral, Math.max(minIntegral, integralResult));
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}
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integralResult += error * lastInvocationMs / loopTimeMs;
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// calculate parts
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final double proportionalPart = kp * error;
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@ -74,9 +62,14 @@ class PIDController {
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final double derivativePart = kd * derivativeResult;
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output = proportionalPart + integralPart + derivativePart;
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// limit output value
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output = Math.min(outputUpperLimit, Math.max(outputLowerLimit, output));
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return new PIDOutputDTO(output, proportionalPart, integralPart, derivativePart, error);
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}
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public void setIntegralResult(double integralResult) {
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this.integralResult = integralResult;
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}
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public void setDerivativeResult(double derivativeResult) {
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this.derivativeResult = derivativeResult;
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}
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}
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@ -18,6 +18,7 @@ import java.math.BigDecimal;
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import java.util.HashMap;
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import java.util.Map;
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import java.util.Objects;
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import java.util.Optional;
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import java.util.Set;
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import java.util.concurrent.Executors;
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import java.util.concurrent.ScheduledExecutorService;
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@ -62,7 +63,7 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
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private static final Set<String> SUBSCRIBED_EVENT_TYPES = Set.of(ItemStateEvent.TYPE, ItemStateChangedEvent.TYPE);
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private final Logger logger = LoggerFactory.getLogger(PIDControllerTriggerHandler.class);
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private final ScheduledExecutorService scheduler = Executors
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.newSingleThreadScheduledExecutor(new NamedThreadFactory("OH-automation-" + AUTOMATION_NAME, true));
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.newSingleThreadScheduledExecutor(new NamedThreadFactory("automation-" + AUTOMATION_NAME, true));
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private final ServiceRegistration<?> eventSubscriberRegistration;
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private final PIDController controller;
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private final int loopTimeMs;
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@ -70,6 +71,7 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
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private long previousTimeMs = System.currentTimeMillis();
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private Item inputItem;
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private Item setpointItem;
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private Optional<String> commandTopic;
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private EventFilter eventFilter;
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public PIDControllerTriggerHandler(Trigger module, ItemRegistry itemRegistry, EventPublisher eventPublisher,
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@ -93,8 +95,13 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
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throw new IllegalArgumentException("Configured setpoint item not found: " + setpointItemName, e);
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}
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double outputLowerLimit = getDoubleFromConfig(config, CONFIG_OUTPUT_LOWER_LIMIT);
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double outputUpperLimit = getDoubleFromConfig(config, CONFIG_OUTPUT_UPPER_LIMIT);
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String commandItemName = (String) config.get(CONFIG_COMMAND_ITEM);
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if (commandItemName != null) {
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commandTopic = Optional.of("openhab/items/" + commandItemName + "/statechanged");
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} else {
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commandTopic = Optional.empty();
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}
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double kpAdjuster = getDoubleFromConfig(config, CONFIG_KP_GAIN);
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double kiAdjuster = getDoubleFromConfig(config, CONFIG_KI_GAIN);
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double kdAdjuster = getDoubleFromConfig(config, CONFIG_KD_GAIN);
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@ -103,15 +110,15 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
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loopTimeMs = ((BigDecimal) requireNonNull(config.get(CONFIG_LOOP_TIME), CONFIG_LOOP_TIME + " is not set"))
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.intValue();
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controller = new PIDController(outputLowerLimit, outputUpperLimit, kpAdjuster, kiAdjuster, kdAdjuster,
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kdTimeConstant);
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controller = new PIDController(kpAdjuster, kiAdjuster, kdAdjuster, kdTimeConstant);
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eventFilter = event -> {
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String topic = event.getTopic();
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return topic.equals("openhab/items/" + inputItemName + "/state")
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|| topic.equals("openhab/items/" + inputItemName + "/statechanged")
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|| topic.equals("openhab/items/" + setpointItemName + "/statechanged");
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|| topic.equals("openhab/items/" + setpointItemName + "/statechanged")
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|| commandTopic.map(t -> topic.equals(t)).orElse(false);
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};
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eventSubscriberRegistration = bundleContext.registerService(EventSubscriber.class.getName(), this, null);
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@ -152,7 +159,7 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
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long now = System.currentTimeMillis();
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PIDOutputDTO output = controller.calculate(input, setpoint, now - previousTimeMs);
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PIDOutputDTO output = controller.calculate(input, setpoint, now - previousTimeMs, loopTimeMs);
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previousTimeMs = now;
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Map<String, BigDecimal> outputs = new HashMap<>();
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@ -198,7 +205,17 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
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@Override
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public void receive(Event event) {
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if (event instanceof ItemStateChangedEvent) {
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calculate();
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if (event.getTopic().equals(commandTopic.get())) {
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ItemStateChangedEvent changedEvent = (ItemStateChangedEvent) event;
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if ("RESET".equals(changedEvent.getItemState().toString())) {
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controller.setIntegralResult(0);
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controller.setDerivativeResult(0);
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} else {
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logger.warn("Unknown command: {}", changedEvent.getItemState());
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}
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} else {
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calculate();
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}
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}
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}
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@ -221,6 +238,8 @@ public class PIDControllerTriggerHandler extends BaseTriggerModuleHandler implem
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localControllerjob.cancel(true);
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}
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scheduler.shutdown();
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super.dispose();
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}
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}
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@ -44,23 +44,22 @@ public class PIDControllerTriggerType extends TriggerType {
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.withRequired(true).withReadOnly(true).withMultiple(false).withContext("item").withLabel("Setpoint")
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.withDescription("Targeted setpoint").build());
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configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_KP_GAIN, Type.DECIMAL).withRequired(true)
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.withMultiple(false).withDefault("1.0").withLabel("Proportional Gain (Kp)")
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.withMultiple(false).withDefault("1.0").withMinimum(BigDecimal.ZERO).withLabel("Proportional Gain (Kp)")
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.withDescription("Change to output propertional to current error value.").build());
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configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_KI_GAIN, Type.DECIMAL).withRequired(true)
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.withMultiple(false).withDefault("1.0").withLabel("Integral Gain (Ki)")
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.withMultiple(false).withDefault("1.0").withMinimum(BigDecimal.ZERO).withLabel("Integral Gain (Ki)")
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.withDescription("Accelerate movement towards the setpoint.").build());
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configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_KD_GAIN, Type.DECIMAL).withRequired(true)
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.withMultiple(false).withDefault("1.0").withLabel("Derivative Gain (Kd)")
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.withMultiple(false).withDefault("1.0").withMinimum(BigDecimal.ZERO).withLabel("Derivative Gain (Kd)")
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.withDescription("Slows the rate of change of the output.").build());
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configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_KD_TIMECONSTANT, Type.DECIMAL)
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.withRequired(true).withMultiple(false).withDefault("1.0").withLabel("Derivative Time Constant")
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.withDescription("Slows the rate of change of the D Part (T1) in seconds.").withUnit("s").build());
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configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_OUTPUT_LOWER_LIMIT, Type.DECIMAL)
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.withRequired(true).withMultiple(false).withDefault("0").withLabel("Output Lower Limit")
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.withDescription("The output of the PID controller will be min this value").build());
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configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_OUTPUT_UPPER_LIMIT, Type.DECIMAL)
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.withRequired(true).withMultiple(false).withDefault("100").withLabel("Output Upper Limit")
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.withDescription("The output of the PID controller will be max this value").build());
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.withRequired(true).withMultiple(false).withMinimum(BigDecimal.ZERO).withDefault("1.0")
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.withLabel("Derivative Time Constant")
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.withDescription("Slows the rate of change of the D part (T1) in seconds.").withUnit("s").build());
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configDescriptions
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.add(ConfigDescriptionParameterBuilder.create(CONFIG_COMMAND_ITEM, Type.TEXT).withRequired(false)
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.withReadOnly(true).withMultiple(false).withContext("item").withLabel("Command Item")
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.withDescription("You can send String commands to this Item like \"RESET\".").build());
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configDescriptions.add(ConfigDescriptionParameterBuilder.create(CONFIG_LOOP_TIME, Type.DECIMAL)
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.withRequired(true).withMultiple(false).withDefault(DEFAULT_LOOPTIME_MS).withLabel("Loop Time")
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.withDescription("The interval the output value is updated in ms").withUnit("ms").build());
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