From ed26dba4711a41e83db09862bee54ee9968694f7 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Fri, 8 May 2020 09:21:19 +0200
Subject: [PATCH] Minimum 8mm valve current 0.53 duty cycle, proportional 0.01,
Integrap 4E-4, inhale valve closed during calibration, PID target pressure
rise up in steps
---
.../hev_prototype_v1/src/BreathingLoop.cpp | 32 +++++++++++++------
arduino/hev_prototype_v1/src/BreathingLoop.h | 6 ++--
.../hev_prototype_v1/src/ValvesController.cpp | 2 +-
arduino/hev_prototype_v1/src/common.h | 2 +-
raspberry-dataserver/CommsDebug.py | 12 +++----
5 files changed, 34 insertions(+), 20 deletions(-)
diff --git a/arduino/hev_prototype_v1/src/BreathingLoop.cpp b/arduino/hev_prototype_v1/src/BreathingLoop.cpp
index 42fa3e0e..4725cfd5 100644
--- a/arduino/hev_prototype_v1/src/BreathingLoop.cpp
+++ b/arduino/hev_prototype_v1/src/BreathingLoop.cpp
@@ -35,7 +35,8 @@ BreathingLoop::BreathingLoop()
_pid.Ki = 0.000007; // integral factor
_pid.Kd = 0; // derivative factor
- _pid_integral = 0.;
+ _pid_integral = 0.;
+ _pid_set_point = 0.;
}
BreathingLoop::~BreathingLoop()
@@ -96,14 +97,14 @@ void BreathingLoop::updateReadings()
float_t _pressure_inhale = adcToMillibarFloat((_readings_sums.pressure_inhale / _readings_N), _calib_avgs.pressure_inhale );
- doPID(10., _pressure_inhale, _valve_inhale_PID_percentage, _airway_pressure, _volume, _flow);
+ doPID(5, 25., _pressure_inhale, _valve_inhale_PID_percentage, _airway_pressure, _volume, _flow);
//_volume = _valve_inhale_PID_percentage;
//_valve_inhale_PID_percentage /= 10.; // In the Labview code the output was defined from 0-10V. It is a simple rescale to keep the same parameters
//Lazy approach
//airway_pressure = Proportional
//volume = Integral
- //flow = Derivative
+ _flow = _valve_inhale_PID_percentage;
_valves_controller.setPIDoutput(_valve_inhale_PID_percentage);
_valves_controller.setValves(VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::PID, VALVE_STATE::CLOSED, VALVE_STATE::CLOSED);
@@ -348,7 +349,7 @@ void BreathingLoop::FSM_breathCycle()
initCalib();
break;
case BL_STATES::CALIBRATION :
- _valves_controller.setValves(VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::CALIB_OPEN, VALVE_STATE::CALIB_OPEN, VALVE_STATE::OPEN);
+ _valves_controller.setValves(VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::CALIB_OPEN, VALVE_STATE::OPEN);
calibrate();
_fsm_timeout = _states_durations.calibration;
break;
@@ -393,7 +394,8 @@ void BreathingLoop::FSM_breathCycle()
_fsm_timeout = _states_durations.buff_pre_inhale;
}
- _pid_integral = 0.;//Resets the integral of the Inhale Valve PID before the inhale cycle starts
+ _pid_integral = 0.;//Resets the integral of the Inhale Valve PID before the inhale cycle starts
+ _pid_set_point = 0.;//Resets the integral of the Inhale Valve PID before the inhale cycle starts
break;
case BL_STATES::INHALE:
@@ -559,19 +561,29 @@ float BreathingLoop::getAirwayPressure(){
return _airway_pressure;
}
-void BreathingLoop::doPID(float target_pressure, float process_pressure, float &output, float &proportional, float &integral, float &derivative){
+void BreathingLoop::doPID(int nsteps, float target_pressure, float process_pressure, float &output, float &proportional, float &integral, float &derivative){
- float error = target_pressure - process_pressure;
+ // Set PID profile using the set point
+ // nsteps defines the number of intermediate steps
+
+ float _pid_set_point_step = target_pressure/nsteps;
+
+ _pid_set_point += _pid_set_point_step;
+
+ if(_pid_set_point > target_pressure) _pid_set_point = target_pressure;
+
+ //Calculate the PID error based on the pid set point
+ float error = _pid_set_point - process_pressure;
proportional = _pid.Kp*error;
_pid_integral += _pid.Ki*error;
integral = _pid_integral;
- //TODO integral and derivative
+ //TODO derivative
- float minimum_open_frac = 0.54; //Minimum opening to avoid vibrations on the valve control
- float maximum_open_frac = 0.64; //Maximum opening for the PID control
+ float minimum_open_frac = 0.53; //Minimum opening to avoid vibrations on the valve control
+ float maximum_open_frac = 0.70; //Maximum opening for the PID control
output = proportional + integral + minimum_open_frac;
diff --git a/arduino/hev_prototype_v1/src/BreathingLoop.h b/arduino/hev_prototype_v1/src/BreathingLoop.h
index 03a0e6a4..bae9ca23 100644
--- a/arduino/hev_prototype_v1/src/BreathingLoop.h
+++ b/arduino/hev_prototype_v1/src/BreathingLoop.h
@@ -93,7 +93,8 @@ private:
// timeouts
uint32_t calculateDurationExhale();
- states_durations _states_durations = {10000, 600, 600, 100, 600, 100, 100, 1000, 500, 600, 400};
+ //durations = {calibration, buff_purge, buff_flush, buff_prefill, buff_fill, buff_loaded, buff_pre_inhale, inhale, pause, exhale_fill, exhale }
+ states_durations _states_durations = {10000, 600, 600, 100, 600, 100, 200, 1000, 200, 600, 400};
// readings
void resetReadingSums();
@@ -117,7 +118,7 @@ private:
float _airway_pressure;
float _valve_inhale_PID_percentage;//from 0 to 1.
- void doPID(float, float, float&, float&, float&, float&);
+ void doPID(int, float, float, float&, float&, float&, float&);
// safety
void safetyCheck();
@@ -126,6 +127,7 @@ private:
// PID vars
float _pid_integral;
+ float _pid_set_point;
};
diff --git a/arduino/hev_prototype_v1/src/ValvesController.cpp b/arduino/hev_prototype_v1/src/ValvesController.cpp
index f12eb5e0..77fae394 100644
--- a/arduino/hev_prototype_v1/src/ValvesController.cpp
+++ b/arduino/hev_prototype_v1/src/ValvesController.cpp
@@ -30,7 +30,7 @@ ValvesController::ValvesController()
_inhale_duty_cycle = 0;
_inhale_open_max = MAX_VALVE_FRAC_OPEN;
- _inhale_open_min = 0.54;
+ _inhale_open_min = 0.53;
_valve_inhale_percent = 0; // replaced by a min level and a max level; bias inhale level. very slightly open at "closed" position
_valve_exhale_percent = 0;
diff --git a/arduino/hev_prototype_v1/src/common.h b/arduino/hev_prototype_v1/src/common.h
index 72dfcecd..e2597218 100644
--- a/arduino/hev_prototype_v1/src/common.h
+++ b/arduino/hev_prototype_v1/src/common.h
@@ -22,7 +22,7 @@
#define HEV_FORMAT_VERSION 0xA5
//
-const float MAX_VALVE_FRAC_OPEN = 0.68;
+const float MAX_VALVE_FRAC_OPEN = 0.70;
const uint8_t MAX_PATIENT_PRESSURE = 40; //mbar
// input params
enum PAYLOAD_TYPE : uint8_t {
diff --git a/raspberry-dataserver/CommsDebug.py b/raspberry-dataserver/CommsDebug.py
index 1032b0cc..1ea61dba 100755
--- a/raspberry-dataserver/CommsDebug.py
+++ b/raspberry-dataserver/CommsDebug.py
@@ -33,8 +33,8 @@ class Dependant(object):
def update_llipacket(self, payload):
#logging.info(f"payload received: {payload}")
if payload.getType() == 1:
- # logging.info(f"payload received: {payload}")
- logging.info(f"Fsm state: {payload.fsm_state} ")
+ logging.info(f"payload received: {payload}")
+ #logging.info(f"Fsm state: {payload.fsm_state} ")
if payload.getType() == 7:
logging.info(f" PID {payload.kp:3.6f} {payload.ki:3.6f} {payload.kd:3.6f}")
#if hasattr(payload, 'ventilation_mode'):
@@ -51,10 +51,10 @@ async def commsDebug():
#comms.writePayload(cmd)
await asyncio.sleep(1)
- cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KP.value, param=0.0033) # to set Kp=0.0002, param=200 i.e., micro_Kp
+ cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KP.value, param=0.01) # to set Kp=0.0002, param=200 i.e., micro_Kp
comms.writePayload(cmd)
await asyncio.sleep(1)
- cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KI.value, param=0.0022) # to set Kp=0.0002, param=200 i.e., micro_Kp
+ cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KI.value, param=0.0004)#0002) # to set Kp=0.0002, param=200 i.e., micro_Kp
comms.writePayload(cmd)
await asyncio.sleep(1)
cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KD.value, param=0.0011) # to set Kp=0.0002, param=200 i.e., micro_Kp
@@ -66,11 +66,11 @@ async def commsDebug():
print('sent cmd start')
toggle = 2
while True:
- await asyncio.sleep(30)
+ await asyncio.sleep(10)
#cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KP.value, param=5) # to set Kp=0.2, param=200 i.e., milli_Kp
#comms.writePayload(cmd)
#print('sent cmd set Kp = 0.2')
- await asyncio.sleep(30)
+ await asyncio.sleep(10)
cmd = CommandFormat(cmd_type=CMD_TYPE.GENERAL.value, cmd_code=toggle, param=0)
if toggle == 2 :
toggle = 1
--
GitLab