ajuste pid bomba

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.Designer.cs

@@ -88,7 +88,7 @@
             this.chbSonarAtivado = new System.Windows.Forms.CheckBox();
             this.lblPressao = new System.Windows.Forms.Label();
             this.label1 = new System.Windows.Forms.Label();
-            this.nudPotenciaBomba = new System.Windows.Forms.NumericUpDown();
+            this.nudPotenciaBombaMin = new System.Windows.Forms.NumericUpDown();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.cmbModoAgitador = new System.Windows.Forms.ComboBox();
@@ -101,6 +101,8 @@
             this.txtKi = new System.Windows.Forms.TextBox();
             this.label6 = new System.Windows.Forms.Label();
             this.txtKd = new System.Windows.Forms.TextBox();
+            this.label7 = new System.Windows.Forms.Label();
+            this.nudPotenciaBombaMax = new System.Windows.Forms.NumericUpDown();
             ((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).BeginInit();
             this.tabControl1.SuspendLayout();
             this.tabMapa.SuspendLayout();
@@ -114,9 +116,10 @@
             this.pnlDir_ET.SuspendLayout();
             this.pnlDir_DT.SuspendLayout();
             this.pnlDir_DF.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.nudPotenciaBomba)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudPotenciaBombaMin)).BeginInit();
             this.groupBox2.SuspendLayout();
             this.groupBox3.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudPotenciaBombaMax)).BeginInit();
             this.SuspendLayout();
             // 
             // pnlAtuadores
@@ -751,27 +754,29 @@
             this.label1.Location = new System.Drawing.Point(6, 94);
             this.label1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(77, 13);
+            this.label1.Size = new System.Drawing.Size(50, 13);
             this.label1.TabIndex = 35;
-            this.label1.Text = "Potencia SP";
+            this.label1.Text = "Pot Min";
             // 
-            // nudPotenciaBomba
+            // nudPotenciaBombaMin
             // 
-            this.nudPotenciaBomba.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.nudPotenciaBombaMin.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.nudPotenciaBomba.Location = new System.Drawing.Point(6, 111);
+            this.nudPotenciaBombaMin.Location = new System.Drawing.Point(6, 111);
-            this.nudPotenciaBomba.Margin = new System.Windows.Forms.Padding(2);
+            this.nudPotenciaBombaMin.Margin = new System.Windows.Forms.Padding(2);
-            this.nudPotenciaBomba.Maximum = new decimal(new int[] {
+            this.nudPotenciaBombaMin.Maximum = new decimal(new int[] {
             200,
             0,
             0,
             0});
-            this.nudPotenciaBomba.Name = "nudPotenciaBomba";
+            this.nudPotenciaBombaMin.Name = "nudPotenciaBombaMin";
-            this.nudPotenciaBomba.Size = new System.Drawing.Size(121, 19);
+            this.nudPotenciaBombaMin.Size = new System.Drawing.Size(55, 19);
-            this.nudPotenciaBomba.TabIndex = 34;
+            this.nudPotenciaBombaMin.TabIndex = 34;
-            this.nudPotenciaBomba.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.nudPotenciaBombaMin.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
             // groupBox2
             // 
+            this.groupBox2.Controls.Add(this.label7);
+            this.groupBox2.Controls.Add(this.nudPotenciaBombaMax);
             this.groupBox2.Controls.Add(this.label6);
             this.groupBox2.Controls.Add(this.txtKd);
             this.groupBox2.Controls.Add(this.label5);
@@ -783,7 +788,7 @@
             this.groupBox2.Controls.Add(this.btnLigarBomba);
             this.groupBox2.Controls.Add(this.label1);
             this.groupBox2.Controls.Add(this.btnDesligarBomba);
-            this.groupBox2.Controls.Add(this.nudPotenciaBomba);
+            this.groupBox2.Controls.Add(this.nudPotenciaBombaMin);
             this.groupBox2.Controls.Add(this.nudPressaoSP);
             this.groupBox2.Controls.Add(this.lblPressaoSP);
             this.groupBox2.Location = new System.Drawing.Point(5, 6);
@@ -905,6 +910,32 @@
             this.txtKd.TabIndex = 44;
             this.txtKd.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
+            // label7
+            // 
+            this.label7.AutoSize = true;
+            this.label7.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label7.Location = new System.Drawing.Point(78, 94);
+            this.label7.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(53, 13);
+            this.label7.TabIndex = 47;
+            this.label7.Text = "Pot Max";
+            // 
+            // nudPotenciaBombaMax
+            // 
+            this.nudPotenciaBombaMax.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.nudPotenciaBombaMax.Location = new System.Drawing.Point(72, 111);
+            this.nudPotenciaBombaMax.Margin = new System.Windows.Forms.Padding(2);
+            this.nudPotenciaBombaMax.Maximum = new decimal(new int[] {
+            200,
+            0,
+            0,
+            0});
+            this.nudPotenciaBombaMax.Name = "nudPotenciaBombaMax";
+            this.nudPotenciaBombaMax.Size = new System.Drawing.Size(55, 19);
+            this.nudPotenciaBombaMax.TabIndex = 46;
+            this.nudPotenciaBombaMax.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
             // frmOperacaoManual
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -959,11 +990,12 @@
             this.pnlDir_DT.PerformLayout();
             this.pnlDir_DF.ResumeLayout(false);
             this.pnlDir_DF.PerformLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.nudPotenciaBomba)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudPotenciaBombaMin)).EndInit();
             this.groupBox2.ResumeLayout(false);
             this.groupBox2.PerformLayout();
             this.groupBox3.ResumeLayout(false);
             this.groupBox3.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudPotenciaBombaMax)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -1026,7 +1058,7 @@
         private System.Windows.Forms.Label lblPressao;
         private System.Windows.Forms.Label lblStatusCarroMapa;
         private System.Windows.Forms.Label label1;
-        private System.Windows.Forms.NumericUpDown nudPotenciaBomba;
+        private System.Windows.Forms.NumericUpDown nudPotenciaBombaMin;
         private System.Windows.Forms.GroupBox groupBox3;
         private System.Windows.Forms.GroupBox groupBox2;
         private System.Windows.Forms.Label label2;
@@ -1039,5 +1071,7 @@
         private System.Windows.Forms.TextBox txtKi;
         private System.Windows.Forms.Label label4;
         private System.Windows.Forms.TextBox txtKp;
+        private System.Windows.Forms.Label label7;
+        private System.Windows.Forms.NumericUpDown nudPotenciaBombaMax;
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs

@@ -60,10 +60,11 @@ namespace AgroBase.Forms.Operacoes
                 txtKp.Text = b.Controle.Kp.ToString();
                 txtKi.Text = b.Controle.Ki.ToString();
                 txtKd.Text = b.Controle.Kd.ToString();
+                nudPotenciaBombaMin.Value = Convert.ToInt32(b.Controle.PotenciaMinPID);
             }
 
             nudPressaoSP.Value = Convert.ToInt32(pC.AtuPressaoLinha);
-            nudPotenciaBomba.Value = 100;
+            nudPotenciaBombaMax.Value = 100;
             nudPotenciaAgitador.Value = 100;
 
             flwCamerasSolo.Controls.Clear();
@@ -670,14 +671,14 @@ namespace AgroBase.Forms.Operacoes
             {
                 Variaveis.OperacaoEmAndamento.Parametros.Controle.AtuModoControle = (ModoControleBomba)cmbModoBomba.SelectedIndex;
 
-                double potencia = Convert.ToInt32(nudPotenciaBomba.Value);
+                double pressao = Convert.ToInt32(nudPressaoSP.Value);
+                double potMin = Convert.ToInt32(nudPotenciaBombaMin.Value);
+                double potMax = Convert.ToInt32(nudPotenciaBombaMax.Value);
                 double Kp = Convert.ToDouble(txtKp.Text);
                 double Ki = Convert.ToDouble(txtKi.Text);
                 double Kd = Convert.ToDouble(txtKd.Text);
-                GeneralJoystick.EnviarComandoAtuador(Bomba.Componente, Bomba.ID, Status: true, Valores: new System.Collections.Generic.List<double?>() { cmbModoBomba.SelectedIndex, potencia, Kp, Ki, Kd }, Comando: CanMessagePosicaoDados.Command2, Forcar: true);
+                GeneralJoystick.EnviarComandoAtuador(Bomba.Componente, Bomba.ID, Status: true, Valores: new System.Collections.Generic.List<double?>() { cmbModoBomba.SelectedIndex, potMin, Kp, Ki, Kd }, Comando: CanMessagePosicaoDados.Command2, Forcar: true);
-
+                GeneralJoystick.EnviarComandoAtuador(Bomba.Componente, Bomba.ID, Status: true, Valores: new System.Collections.Generic.List<double?>() { potMax, pressao }, Comando: CanMessagePosicaoDados.Command1, Forcar: true);
-                double pressao = Convert.ToInt32(nudPressaoSP.Value);
-                GeneralJoystick.EnviarComandoAtuador(Bomba.Componente, Bomba.ID, Status: true, Valores: new System.Collections.Generic.List<double?>() { potencia, pressao }, Comando: CanMessagePosicaoDados.Command1, Forcar: true);
             }
         }
 

Firmware/Modulos/BombaPressurizadoraModel_v2.h

@@ -80,6 +80,7 @@ class BombaPressurizadora_v2 : public ComponenteCAN {
     double Kd = 0.0;
 
     double erroAnterior = 0;
+    double pressaoAnterior = 0.0;
     double integralErro = 0;
     unsigned long ultimoPID_ms = 0;
 
@@ -341,56 +342,107 @@ class BombaPressurizadora_v2 : public ComponenteCAN {
     }
 
     void ResetPID() {
-      erroAnterior = 0;
+      erroAnterior = 0.0;
-      integralErro = 0;
+      integralErro = 0.0;
+      pressaoAnterior = 0.0;
       ultimoPID_ms = millis();
     }
 
     double CalcularPotenciaPID(double pressaoAtual) {
-      unsigned long agora = millis();
+      const unsigned long agora = millis();
 
       if (ultimoPID_ms == 0) {
         ultimoPID_ms = agora;
+        erroAnterior = _PressaoSP - pressaoAtual;
+        pressaoAnterior = pressaoAtual;
+        return 0.0;
       }
 
       double dt = (agora - ultimoPID_ms) / 1000.0;
       ultimoPID_ms = agora;
 
-      if (dt <= 0.001) {
+      if (dt < 0.01) {
-        dt = 0.001;
+        dt = 0.01;
+      }
+
+      if (dt > 0.5) {
+        dt = 0.5;
       }
 
       double erro = _PressaoSP - pressaoAtual;
 
-      // Zona morta: se está perto do SP, evita ficar oscilando demais
+      if (fabs(erro) <= DeadbandPressao) {
-      if (abs(erro) <= DeadbandPressao) {
+        erro = 0.0;
-        erro = 0;
       }
 
-      integralErro += erro * dt;
+      /*
-      integralErro = constrain(integralErro, IntegralMin, IntegralMax);
+        Derivada feita sobre a medição, e não sobre o erro.
+        Isso reduz o tranco quando o SP muda.
+      */
+      double derivadaMedicao =
+          (pressaoAtual - pressaoAnterior) / dt;
 
-      double derivada = (erro - erroAnterior) / dt;
+      pressaoAnterior = pressaoAtual;
-      erroAnterior = erro;
 
-      double saida = (Kp * erro) + (Ki * integralErro) + (Kd * derivada);
+      /*
+        Calcula primeiro sem atualizar a integral.
+      */
+      double saidaSemIntegral =
+          (Kp * erro)
+          - (Kd * derivadaMedicao);
 
-      // Se passou da pressão desejada, deixa cortar a bomba
+      double integralCandidata =
-      if (pressaoAtual >= _PressaoSP) {
+          integralErro + (erro * dt);
-        saida = 0;
+
+      integralCandidata = constrain(
+          integralCandidata,
+          IntegralMin,
+          IntegralMax
+      );
+
+      double saidaCandidata =
+          saidaSemIntegral
+          + (Ki * integralCandidata);
+
+      double teto = constrain(
+          _PotenciaSP,
+          0.0,
+          PotenciaMaxPID
+      );
+
+      /*
+        Anti-windup:
+        só integra se não estiver saturado,
+        ou se o erro estiver ajudando a sair da saturação.
+      */
+      bool saturadoSuperior = saidaCandidata >= teto;
+      bool saturadoInferior = saidaCandidata <= 0.0;
+
+      bool podeIntegrar =
+          (!saturadoSuperior && !saturadoInferior)
+          || (saturadoSuperior && erro < 0)
+          || (saturadoInferior && erro > 0);
+
+      if (podeIntegrar) {
+        integralErro = integralCandidata;
       }
 
-      // Limite máximo vindo do comando
+      double saida =
-      double teto = _PotenciaSP > 0 ? _PotenciaSP : PotenciaMaxPID;
+          saidaSemIntegral
-      teto = constrain(teto, PotenciaMinPID, PotenciaMaxPID);
+          + (Ki * integralErro);
 
-      saida = constrain(saida, 0, teto);
+      saida = constrain(saida, 0.0, teto);
 
-      // Degrau mínimo: se o PID quer ligar, liga com potência útil
+      /*
-      if (saida > 0 && saida < PotenciaMinPID) {
+        Só aplica o mínimo quando existe demanda real
+        para ligar a bomba.
+      */
+      if (saida > 0.0 && saida < PotenciaMinPID) {
         saida = PotenciaMinPID;
       }
 
+      erroAnterior = erro;
+
       return saida;
     }