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Always calculate extruder temperature PID d term (PR#2432)

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2.0.x
ayberkozgur 10 years ago committed by Richard Wackerbarth
parent 87a872e103
commit 7268d46508
1 changed files with 2 additions and 2 deletions
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4
Marlin/temperature.cpp
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@ -476,6 +476,8 @@ float get_pid_output(int e) {
#ifdef PIDTEMP #ifdef PIDTEMP
#ifndef PID_OPENLOOP #ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - current_temperature[e]; pid_error[e] = target_temperature[e] - current_temperature[e];
dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
temp_dState[e] = current_temperature[e];
if (pid_error[e] > PID_FUNCTIONAL_RANGE) { if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX; pid_output = BANG_MAX;
pid_reset[e] = true; pid_reset[e] = true;
@ -494,7 +496,6 @@ float get_pid_output(int e) {
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e]; iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
pid_output = pTerm[e] + iTerm[e] - dTerm[e]; pid_output = pTerm[e] + iTerm[e] - dTerm[e];
if (pid_output > PID_MAX) { if (pid_output > PID_MAX) {
if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
@ -505,7 +506,6 @@ float get_pid_output(int e) {
pid_output = 0; pid_output = 0;
} }
} }
temp_dState[e] = current_temperature[e];
#else #else
pid_output = constrain(target_temperature[e], 0, PID_MAX); pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP #endif //PID_OPENLOOP

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