Переделан pid

hddtempserial/hddtempserial.ino

@@ -156,11 +156,14 @@ uint32_t last_beep_time = 0;
 uint32_t last_poll_time = 0;
 uint32_t lastRpmCheck = 0;
 
-float p[3] = {};
-float i[3] = {};
-float d[3] = {};
+//float p[3] = {};
+//float i[3] = {};
+//float d[3] = {};
 
-float k_p = 40;
+float errorIntegral[3] = {};
+float prevError[3] = {};
+
+float k_p = -40;
 float k_i = 0.005;
 float k_d = 0;
 
@@ -325,19 +328,25 @@ void rpm_control() {
 
   for (int group = 0; group < 3; group++) {//управление скоростью 3-х групп вентиляторов
     if (controls[group].copy_from < 0 || controls[group].copy_from > 2) {
-      uint8_t duty_cycle = 0;
       float pwmDutyCycle = ON_DUTY_CYCLE;
 
       if (pc_respond){
-        d[group] = (controls[group].temperature - controls[group].target_temperature - p[group]) / float(millis() - lastRpmCheck);
-        p[group] = controls[group].temperature - controls[group].target_temperature;
-        i[group] = i[group] + p[group] * (millis() - lastRpmCheck);
-    
-        if (fabs(i[group] * k_i) >= i_max) {
-          i[group] = i_max / k_i;
-        }
+        uint32_t deltaTime = millis() - lastRpmCheck;
+
+        float error = controls[group].target_temperature - controls[group].temperature;
+
+        //чтобы i не накапливалась
+        if (controls[group].dutyCycle < controls[group].max_duty_cycle && controls[group].dutyCycle < ON_DUTY_CYCLE)
+            errorIntegral[group] += error * deltaTime;
+
+        float errorChangeRate = (error - prevError[group]) / deltaTime;
+        prevError[group] = error;
+
+        float p = k_p * error;
+        float i = k_i * errorIntegral[group];
+        float d = k_d * errorChangeRate;
 
-        pwmDutyCycle = round(p[group] * k_p + i[group] * k_i + d[group] * k_d);
+        pwmDutyCycle = p + i + d;
       }
       
       set_duty_cycle(controls[group], round(pwmDutyCycle));