v1216| 优化温度控制逻辑

sdk/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp

@@ -107,7 +107,9 @@ int32_t WaterCoolingTemperatureControlModule::module_set_reg(int32_t regindex, i
     MODULE_REG_CASE__SET_REG_FLOAT(kreg_water_cooling_tmp_controler_temp1_offset, m_temperature_sensor_offset[1], 0.1);
     MODULE_REG_CASE__SET_REG_FLOAT(kreg_water_cooling_tmp_controler_temp2_offset, m_temperature_sensor_offset[2], 0.1);
     MODULE_REG_CASE__SET_REG_FLOAT(kreg_water_cooling_tmp_controler_temp3_offset, m_temperature_sensor_offset[3], 0.1);
-    MODULE_REG_CASE__SET_REG_FLOAT(kreg_water_cooling_tmp_controler_fanlevel_coefficient, m_fanlevel_coefficient,0.01);
+    MODULE_REG_CASE__SET_REG_FLOAT(kreg_water_cooling_tmp_controler_fanlevel_coefficient, m_fanlevel_coefficient, 0.01);
+
+    MODULE_REG_CASE__SET_REG_FLOAT(kreg_water_cooling_tmp_controler_first_approach_target_dval_threshold, m_first_approach_target_d_val_threshold, 0.1);
 
     default:
       return err::kmodule_not_find_reg;
@@ -147,6 +149,8 @@ int32_t WaterCoolingTemperatureControlModule::module_get_reg(int32_t regindex, i
     MODULE_CFG_CASE__GET_REG_FLOAT(kreg_water_cooling_tmp_controler_temp3_offset, (m_temperature_sensor_offset[3]), 0.1);
     MODULE_CFG_CASE__GET_REG_FLOAT(kreg_water_cooling_tmp_controler_fanlevel_coefficient, m_fanlevel_coefficient, 0.01);
 
+    MODULE_CFG_CASE__GET_REG_FLOAT(kreg_water_cooling_tmp_controler_first_approach_target_dval_threshold, m_first_approach_target_d_val_threshold, 0.1);
+
     default:
       return err::kmodule_not_find_reg;
       break;
@@ -217,6 +221,8 @@ void    WaterCoolingTemperatureControlModule::workloop() {
   fan_start(m_cfg.fanlevel);
   int32_t  i           = 0;
   uint32_t startticket = zos_get_tick();
+  m_pidmodule.set_integral_err(0);
+  bool firstApproachTarget = true;
 #if 1
   while (!m_thread.getExitFlag()) {
     if (zos_haspassedms(startticket) > 1000) {
@@ -233,6 +239,12 @@ void    WaterCoolingTemperatureControlModule::workloop() {
 
     float error = m_target_temperature - val;
     float out   = 0;
+
+    if (firstApproachTarget && abs(error) <= m_first_approach_target_d_val_threshold) {
+      firstApproachTarget = false;
+      m_pidmodule.set_integral_err(0);  // 重置积分误差
+    }
+
     m_pidmodule.compute(error, &out);
 
     // if (m_enable_log) {

sdk/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp

@@ -70,9 +70,10 @@ class WaterCoolingTemperatureControlModule : public ZIModule {
   ZThread   m_thread;
   ZThread   m_sensor_update_thread;
 
-  int32_t m_enable_log         = 0;
-  float   m_target_temperature = 0;
-  int32_t m_output             = 0;
+  int32_t m_enable_log                            = 0;
+  float   m_target_temperature                    = 0;
+  float   m_first_approach_target_d_val_threshold = 2;
+  int32_t m_output                                = 0;
 
   float m_feedbak_temperature          = 0;
   float m_temperature_sensor_cache[4]  = {0};

usrc/a8000_protocol/protocol/reg_index.cpp

@@ -41,6 +41,8 @@ static reginfo_t table[] = {
     REG_ITERM(kreg_water_cooling_tmp_controler_temp3_offset),
 
     REG_ITERM(kreg_water_cooling_tmp_controler_fanlevel_coefficient),
+    REG_ITERM(kreg_water_cooling_tmp_controler_first_approach_target_dval_threshold),
+    
 
     REG_ITERM(kreg_pipette_pos_nl),
     REG_ITERM(kreg_pipette_capactitance_val),

usrc/a8000_protocol/protocol/reg_index.hpp

@@ -47,7 +47,8 @@ typedef enum {
   kreg_water_cooling_tmp_controler_temp2_offset = 3062,  // 温度2 偏移
   kreg_water_cooling_tmp_controler_temp3_offset = 3063,  // 温度3 偏移
 
-  kreg_water_cooling_tmp_controler_fanlevel_coefficient = 3070,  // 风扇转速系数0.1
+  kreg_water_cooling_tmp_controler_fanlevel_coefficient                 = 3070,  // 风扇转速系数0.1
+  kreg_water_cooling_tmp_controler_first_approach_target_dval_threshold = 3071,  // 0.1
 
   /*******************************************************************************
    *                                移液枪状态                                    *

usrc/version.c

@@ -1,5 +1,5 @@
 #include "version.h"
 
-int32_t APP_VERSION = 1215;
+int32_t APP_VERSION = 1216;
 
 int32_t get_app_version() { return APP_VERSION; }