# MicroPython implementation of fuzzy temperature control # Converted from original C implementation (fuzzy.C) # Original author: xukaiming # Original date: 2025.06.16 import time from machine import Pin from micropython import const #from task import TaskScheduler #0.1度 以前是0.01度 #设定为度 # 三个参数 通过显示屏config配置 _DEFAULT_Ki = const(1) # Integral coefficient 积分系数 _DEFAULT_KI = const(960) # KI value (can be 60 or 80 depending on temperature) _DEFAULT_Kp = const(320) # Proportional coefficient 比例系数 _DEFAULT_KC = const(1) # Control difference 控制差异 0.01℃ _DEFAULT_MAXNEGINTERG = const(-1000) # Maximum negative integral 最大负值 _MAX_TEMP = const(200*10) # Maximum negative integral 最大正值？ # Constants PWM_PITCED = const(0) # PWM minimum 控温最小周期 PWM_PERIOD = const(4000) # PWM period 控温最大周期 DEF_CTEMP = const(300) #初始启动控制温度 举例：300 == 3.00℃ class AI_Control: """AI control structure for fuzzy temperature control""" def __init__(self): # Control constants self.KC = _DEFAULT_KC # Control difference 控制差异 0.01℃ self.Ki = _DEFAULT_Ki # Integral coefficient 积分系数 self.KI = _DEFAULT_KI # KI value (can be 60 or 80 depending on temperature) 积分时间 self.Kp = _DEFAULT_Kp # Proportional coefficient 比例系数 self.MAXNEGINTERG = _DEFAULT_MAXNEGINTERG # Maximum negative integral 最大负值 # control varible self.WarmFlag = 0 # Heating flag 加热标志位 self.iDestTemp = 0 # Target temperature 目标温度 self.gTemp = None # Current temperature pointer 当前温度 self.CTEMP = DEF_CTEMP # Initial start control temperature 初始启动控制温度2000 == 5.00℃ self.Error = [0, 0] # Error values (current and previous) 差异值 self.dErr = 0 # Error change rate 差异变化量 self.SumErrLimit = 0 # Integral value 积分值 self.PreOut = 0 # Previous output 上一个输出 self.CurOut = 0 # Current output 当前输出 self.set_p_out = None self.stop_heat() def task_fuzzy(self): """Fuzzy control task""" if self.WarmFlag: #判断是否开始加热？ self.Error[1] = self.Error[0] #保存当前差异作为上一个差异 temp = self.gTemp[0] # Assuming gTemp is now a list or array #print(f"gTemp = {self.gTemp[0]}\r") self.Error[0] = int((self.iDestTemp - temp) / self.KC) # Calculate error 目标值减当前值，计算差异 self.dErr = self.Error[0] - self.Error[1] # Calculate error change 计算误差变化率 if self.Error[0] < self.CTEMP: # Error is within control range 误差差异进入控制范围 if ((self.Error[0] * self.dErr) > 0) or ((self.Error[0] == 0) and (self.dErr != 0)): # Error is increasing 差异在增加，降温趋势 self.SumErrLimit += self.Error[0] # Accumulate error 误差差异累积 if self.SumErrLimit < self.MAXNEGINTERG: self.SumErrLimit = self.MAXNEGINTERG #赋值最小负值，控制积分分离深度 # Calculate output = proportional + integral 当前输出=比例+积分 self.CurOut = self.Error[0] * self.Kp + self.SumErrLimit * self.Ki * self.Kp / self.KI # KI 积分时间，累积到与当前比例作用相同输出量所需要的时间，越小越强。 else: # Error is decreasing or stable 差异在减小或稳定，升温趋势或稳定 if ((self.Error[0] * self.dErr) < 0) or (self.dErr == 0): # Error is decreasing 差异在减小，升温趋势 self.CurOut = self.SumErrLimit * self.Ki * self.Kp / self.KI else: # Error is stable 差异稳定，稳定趋势；用上一个输出量持续输出 self.CurOut = self.PreOut else: # Error is outside control range - use direct calculation 误差差异在控制范围外 self.CurOut = int(self.iDestTemp / 3000 * PWM_PERIOD / 4.0) #参数说明，根据设定温度 控制全速加热量，全速加热4000,120℃以下非全速加热 if self.dErr < -20: #两次温升差异大于0.2℃/4S，抑制积分作用 self.SumErrLimit = 0 #抑制上升速度 # Limit output range 限制输出范围 if self.CurOut < 0: self.CurOut = 0 # 最小输出值 0 if self.CurOut > PWM_PERIOD: self.CurOut = PWM_PERIOD # 最大输出值 4000 # Set output and save previous value if self.set_p_out != None: self.set_p_out(self.CurOut) self.PreOut = self.CurOut # 保存当前输出量 作为上一个输出量 #输出excel曲线 print(f"Error = {self.Error[0]},dErr={self.dErr},SumErrLimit={self.SumErrLimit},CurOut={self.CurOut},PreOut={self.PreOut }\r") else: if self.set_p_out != None: self.set_p_out(PWM_PITCED) def stop_heat(self): """Stop heating""" self.WarmFlag = 0 if self.set_p_out != None: self.set_p_out(PWM_PITCED) ''' def set_p_out(self,pwm_width): if(pwm_width>0): #TaskScheduler.start_timer(TIMER_MODE_ONCEROUTINE, pwm_width, ) pass else: #set_p_out pass pass ''' def ctrl_stove(self,c_open, cur_temp, l_dest_temp): """ Control stove function Args: c_open: Open control flag cur_temp: Pointer to current temperature l_dest_temp: Target temperature """ self.WarmFlag = c_open if c_open: # Start heating self.gTemp = cur_temp # Current temperature print(f"KC={self.KC} Ki = {self.Ki} KI = {self.KI} Kp= {self.Kp} CTEMP= {self.CTEMP}\r") #print(f"WarmFlag={self.WarmFlag} gTemp = {self.gTemp[0]} l_dest_temp = {l_dest_temp}\r") self.iDestTemp = l_dest_temp # Target temperature self.CTEMP = DEF_CTEMP self.SumErrLimit = 0 self.KI = 60 else: self.stop_heat() # Global AI control instance ai_ctrl = AI_Control() def Task_fuzzy(): ai_ctrl.task_fuzzy() if __name__ == '__main__': temper = [3000,4000] l_dest_temp = 800 print("fuzzy 测试\r") ai_ctrl.ctrl_stove(1,temper,l_dest_temp); #ai_ctrl.Heat_ctrl(0) #关闭加热 #ai_ctrl.Heat_ctrl(1) #启动加热 while True: temper[0] = 4000.1 ai_ctrl.task_fuzzy() time.sleep(1) # 模拟耗时1秒的操作 temper[0] = 3000.1 ai_ctrl.task_fuzzy() time.sleep(1) # 模拟耗时1秒的操作 temper[0] = 4000.1 ai_ctrl.task_fuzzy() time.sleep(1) # 模拟耗时1秒的操作 temper[0] = 5000.1 ai_ctrl.task_fuzzy() time.sleep(1) # 模拟耗时1秒的操作 temper[0] = 6000.1 ai_ctrl.task_fuzzy() time.sleep(0) # 模拟耗时1秒的操作 #ai_ctrl.Heat_ctrl(0) #关闭加热