1. Dit Auto Tune Raspberry Piano
2. Dit Auto Tune Raspberry Pie

You can autotune your system following these steps:

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1. Set the folder permission of /home/pi/craftbeerpi to 777 (chmod) (this is to allow a file to be written later)
2. In the kettle setup, select PIDAutotuneLogic as automatic logic
3. Set a temperature setpoint. Usually something between 50°C to 60°C works well.
4. Add the amount of water you usually use
5. If you use a pump, turn it on
6. Enable automatic control (the car symbol)
7. Wait until the autotune-logic disables automatic control itself

This can take up to an hour or more (depending on the individual hardware setup and the setpoint temperature), because the autotune logic tries to oscillate around the setpoint.
The problem is, that after overshooting the setpoint, the autotune-logic waits until the temperature drops below the setpoint which usually takes some time.

The problem is that the program needs to auto-tune and choose correct Kp, Ki constants and adapt to varying environmental conditions and changes in heating capacity. Therefore, tuning the PI controller in advance is not too useful. Using an actual PI or PID is not a requirement.

During tuning, you can read the autotune log by reading the craftbeerpi logfile and filtering for PIDAutotune:
tail -f craftbeerpi/log/name_of_the_logfile grep PIDAutotune

After the autotune-process is completed successfully, the results will be saved to a file named pidparams.txt in the craftbeerpi working directory (usually: craftbeerpi/pidparams.txt).
The autotune-process can fail. In this case, the automatic mode will be disabled, but no pidparams.txt file will be created.If autotune runs forever, the problem is usually either the heater being not powerful enough to reach the setpoint or the temperature not dropping below the setpoint fast enough for whatever reason (isolation, ambient temp. etc.).

Dit Auto Tune Raspberry Piano

Hint: If you aren't sure how auto tuning works, you can do a dry run on this brewing kettle simulation.

• output step %: defines the the output of the autotune-algorithm when stepping up/down, e.g. output step = 100; step up (=heating) output = 100; step down (= cooling) output = -100. This setting should stay at 100%
• lookback seconds: determines how far the algorithm will look back when trying to find local (temperature) extrema (minima/maxima). If the algorithm recognizes even short peaks as extrema, you should increase this value. If it doesn't recognize actual extrema, you should decrease it. Usually the default of 30 seconds work fine.
• max. output %: limits the maximum power output. This is useful if your heater is overpowered and would heat up the kettle way too fast. If you don't want to limit your heater, leave this at the default value of 100%

The PID-tuning rules basically are different ways of calculating the PID-parameters, which changes the behavior of the PID-controller (e.g. ziegler-nichols produces quite a lot of overshoot - not that good for brewing). See Ziegler–Nichols method.In most cases, brewing is the best rule for brewing, obviously ;)

Dit Auto Tune Raspberry Pie

Example of pidparams.txt file: