106 lines
2.1 KiB
Python
106 lines
2.1 KiB
Python
import pigpio
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import time
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PWM_PIN = 18
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TACH_PIN = 23
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TARGET_TEMP = 40.0
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# 初始参数
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Kp = 1.0
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Ki = 0.0
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Kd = 0.0
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integral = 0
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last_error = 0
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last_temp = None
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pulse_count = 0
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last_time = time.time()
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pi = pigpio.pi()
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pi.set_PWM_frequency(PWM_PIN, 25000)
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pi.set_PWM_range(PWM_PIN, 255)
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def tach_cb(gpio, level, tick):
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global pulse_count
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pulse_count += 1
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pi.set_mode(TACH_PIN, pigpio.INPUT)
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pi.set_pull_up_down(TACH_PIN, pigpio.PUD_UP)
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pi.callback(TACH_PIN, pigpio.FALLING_EDGE, tach_cb)
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last_tem = 0
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def get_temp():
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global last_tem
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with open("/sys/class/thermal/thermal_zone0/temp") as f:
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temp_filtered = 0.8 * last_tem + 0.2 * int(f.read()) / 1000
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last_tem = temp_filtered
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return temp_filtered
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def get_rpm():
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global pulse_count, last_time
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now = time.time()
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dt = now - last_time
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count = pulse_count
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pulse_count = 0
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last_time = now
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return (count / 2) / dt * 60
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def adaptive_pid(temp):
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global Kp, Ki, Kd, integral, last_error, last_temp
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error = temp - TARGET_TEMP
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integral += error
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integral = max(min(integral, 100), -100)
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derivative = error - last_error
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# ===== 自适应调参 =====
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if last_temp is not None:
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temp_rate = temp - last_temp
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# 响应太慢 → 增大 Kp
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if abs(error) > 5 and abs(temp_rate) < 0.1:
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Kp += 0.001
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# 震荡 → 降低 Kp，提高 Kd
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if abs(temp_rate) > 0.5:
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Kp *= 0.95
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Kd += 0.0005
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# 长期偏差 → 增大 Ki
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if abs(error) > 2:
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Ki += 0.0001
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last_temp = temp
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last_error = error
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output = Kp * error + Ki * integral + Kd * derivative
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return output
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try:
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while True:
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temp = get_temp()
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rpm = get_rpm()
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out = adaptive_pid(temp)
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duty = max(10, min(255, int(out * 5)))
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pi.set_PWM_dutycycle(PWM_PIN, duty)
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print(f"\rT={temp:.1f}C RPM={rpm:.0f} PWM={duty} Kp={Kp:.2f} Ki={Ki:.2f} Kd={Kd:.2f} ", end="")
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time.sleep(0.05)
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except KeyboardInterrupt:
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pass
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finally:
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pi.set_PWM_dutycycle(PWM_PIN, 0)
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pi.stop()
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