reorganized

git-svn-id: http://moon:8086/svn/projects/HendiControl@2 fda53097-d464-4ada-af97-ba876c37ca34

Control/.goutputstream-6QMDOZ

@@ -0,0 +1,54 @@
+#<ch>:<object>:<GET|SET>
+
+#0:POWER:GET
+#0:POWER:SET <value> ; value={0, 500 .. 3500}
+
+#0:POTI:GET ; returns {0..1023}
+#0:SWITCH:GET ; returns {0, 1}
+
+#0:INTERVAL:GET
+#0:INTERVAL:SET <value> ; in milliseconds, 0 means no reporting
+
+Commands:
++------------+------+
+|   Header   | Data |
++------------+------+
+|SEQ|CODE|LEN| DATA |
++------------+------+
+SEQ = 1..255
+CODE = Command code
+LEN = length of data [bytes]
+
+* Command / Response codes:
+0x80: OK
+0xFF: ERR
+
+Commands
+0x01: CMD_CONFIG_SET -> RSP_SET_CONFIG, OK, ERR
+0x02: CMD_CONFIG_GET -> RSP_GET_CONFIG, ERR
+0x03: CMD_PWR_SET -> RSP_SET_PWR, OK, ERR
+0x04: CMD_PWR_GET -> RSP_GET_PWR, ERR
+0x05: CMD_POTI_GET -> RSP_GET_POTI, ERR
+0x06: CMD_SWITCH_GET -> RSP_GET_SWITCH, ERR
+
+Responses
+0x81: RSP_CONFIG_SET
+0x82: RSP_CONFIG_GET
+0x83: RSP_PWR_SET
+0x84: RSP_PWR_GET
+0x85: RSP_POTI_GET
+0x86: RSP_SWITCH_GET
+
+Notifications
+Are responses with SEQ-number set to 0
+
+Beispiel
+CMD_PWR_SET(3500):
+01, 03, 02, AC, 0D
+
+
+OK:RSP_PWR_SET:
+01, 83, 02, AC, 0D
+
+ERR:
+01, FF, 02, <2 byte Fehler code>

Control/.goutputstream-BPFJOZ

@@ -0,0 +1,54 @@
+#<ch>:<object>:<GET|SET>
+
+#0:POWER:GET
+#0:POWER:SET <value> ; value={0, 500 .. 3500}
+
+#0:POTI:GET ; returns {0..1023}
+#0:SWITCH:GET ; returns {0, 1}
+
+#0:INTERVAL:GET
+#0:INTERVAL:SET <value> ; in milliseconds, 0 means no reporting
+
+Commands:
++------------+------+
+|   Header   | Data |
++------------+------+
+|SEQ|CODE|LEN| DATA |
++------------+------+
+SEQ = 1..255
+CODE = Command code
+LEN = length of data [bytes]
+
+* Command / Response codes:
+0x80: OK
+0xFF: ERR
+
+Commands
+0x01: CMD_CONFIG_SET -> RSP_SET_CONFIG, OK, ERR
+0x02: CMD_CONFIG_GET -> RSP_GET_CONFIG, ERR
+0x03: CMD_PWR_SET -> RSP_SET_PWR, OK, ERR
+0x04: CMD_PWR_GET -> RSP_GET_PWR, ERR
+0x05: CMD_POTI_GET -> RSP_GET_POTI, ERR
+0x06: CMD_SWITCH_GET -> RSP_GET_SWITCH, ERR
+
+Responses
+0x81: RSP_CONFIG_SET
+0x82: RSP_CONFIG_GET
+0x83: RSP_PWR_SET
+0x84: RSP_PWR_GET
+0x85: RSP_POTI_GET
+0x86: RSP_SWITCH_GET
+
+Notifications
+Are responses with SEQ-number set to 0
+
+Beispiel
+CMD_PWR_SET(3500):
+01, 03, 02, AC, 0D
+
+
+OK:RSP_PWR_SET:
+01, 83, 02, AC, 0D
+
+ERR:
+01, FF, 02, <2 byte Fehler code>

Control/cmds.txt

@@ -0,0 +1,54 @@
+#<ch>:<object>:<GET|SET>
+
+#0:POWER:GET
+#0:POWER:SET <value> ; value={0, 500 .. 3500}
+
+#0:POTI:GET ; returns {0..1023}
+#0:SWITCH:GET ; returns {0, 1}
+
+#0:INTERVAL:GET
+#0:INTERVAL:SET <value> ; in milliseconds, 0 means no reporting
+
+Commands:
++------------+------+
+|   Header   | Data |
++------------+------+
+|SEQ|CODE|LEN| DATA |
++------------+------+
+SEQ = 1..255
+CODE = Command code
+LEN = length of data [bytes]
+
+* Command / Response codes:
+0x80: OK
+0xFF: ERR
+
+Commands
+0x01: CMD_CONFIG_SET -> RSP_SET_CONFIG, OK, ERR
+0x02: CMD_CONFIG_GET -> RSP_GET_CONFIG, ERR
+0x03: CMD_PWR_SET -> RSP_SET_PWR, OK, ERR
+0x04: CMD_PWR_GET -> RSP_GET_PWR, ERR
+0x05: CMD_POTI_GET -> RSP_GET_POTI, ERR
+0x06: CMD_SWITCH_GET -> RSP_GET_SWITCH, ERR
+
+Responses
+0x81: RSP_CONFIG_SET
+0x82: RSP_CONFIG_GET
+0x83: RSP_PWR_SET
+0x84: RSP_PWR_GET
+0x85: RSP_POTI_GET
+0x86: RSP_SWITCH_GET
+
+Notifications
+Are responses with SEQ-number set to 0
+
+Beispiel
+CMD_PWR_SET(3500):
+01, 03, 02, AC, 0D
+
+
+OK:RSP_PWR_SET:
+01, 83, 02, AC, 0D
+
+ERR:
+01, FF, 02, <2 byte Fehler code>

matlab/brew_eval.m

@@ -0,0 +1,201 @@
+## Copyright (C) 2018 Jens Ahrensfeld
+## 
+## This program is free software; you can redistribute it and/or modify it
+## under the terms of the GNU General Public License as published by
+## the Free Software Foundation; either version 3 of the License, or
+## (at your option) any later version.
+## 
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+## 
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+## Author: Jens Ahrensfeld <ahrensfeld@w2ess001vm>
+## Created: 2018-02-08
+
+function brew_eval(varargin)
+%
+% brew_eval('M', 20.0, 'cont_ctrl', 0, 'kp', 0.1, 'ki', 0.1, 'kd', 100, 'T', 1800, 'mass_kleak', 0.2, 'P_q', 100, 'mass_delay', 100, [50 60 70 80]);
+
+WITH_LOWPASS = 1;
+WITH_RUNNING_MEAN = 0;
+
+params = struct ('cont_ctrl',0, 'C',4.19e3, 'M',10, 'mass_kleak',0.1, 'mass_delay',50, 'P_min',0, 'P_max',3000, 'P_q',100, 'T',100, 'dt',1.0, 'Td',10.0, 'theta_lock',0.5, 'theta_amb',20.0, 'kp',10, 'ki',0.04, 'kd',500, 'pid_kleak',0.1, 'k_noise', 0.01, 'k_noise2', 0.0, 'f_noise2', 0.01);
+units = struct ('cont_ctrl', '', 'C', 'J/(kg*K)', 'M', 'kg', 'mass_kleak', '', 'mass_delay', 's', 'P_min', 'W', 'P_max', 'W', 'P_q','W', 'T', 's', 'dt', 's', 'Td', 's', 'theta_lock', '°C', 'theta_amb', '°C', 'kp', '', 'ki', '', 'kd', '', 'pid_kleak', '', 'k_noise', '', 'k_noise2', '', 'f_noise2', 'Hz');
+
+% Parse parameters
+names = fieldnames(params);
+varargin
+for k=1:nargin-1,
+	for n=1:length(names),
+		if strcmpi(varargin{k}, names{n})
+			params.(names{n}) = varargin{k+1};
+		end
+	end
+end
+	
+print_parameters(params)
+
+s_mass = 0;
+s_pid = [];
+s_pid_rate = [];
+theta_ist = params.theta_amb;
+theta_last = params.theta_amb;
+thetas = varargin{nargin}
+heatRate = 0;
+heatRateMeasureInterval = 30.0; % seconds
+heatRateMeasureCount = 0; % seconds
+n = 0;
+nSteps = params.P_max / params.P_q;
+
+N = 2*fix(length(thetas)*params.T/params.dt);
+
+lp_N = 17;
+[lp_b, lp_a] = butter (lp_N-1, 0.125);
+lp_z = zeros(1, length(lp_b)-1);
+maz = 17;
+
+for k=1:length(thetas)
+	theta_soll = thetas(k);
+	hold_theta = 0;
+	temp_ok = 0;
+	while n < N,
+		err = theta_ist - theta_soll;
+		[y, yc, s_pid] = pid(s_pid, params.kp, params.ki*params.dt, params.kd*params.dt, 1-params.pid_kleak, -err);
+
+		% Rate controller
+		err_rate = heatRate - 1.0;
+		[y_rate, yc_rate, s_pid_rate] = pid(s_pid_rate, 1.0*params.dt, 0.001*params.dt, 0*params.dt, 1-params.pid_kleak, -err_rate);
+		P_rate = max(params.P_min+1, min(params.P_max, y_rate));
+		% Rate controller
+
+		P_norm = max(params.P_min/params.P_max, min(1.0, yc));
+		P_cont = P_norm * params.P_max;
+		P_cont_q = fix(P_norm * nSteps)*params.P_q;
+		if params.cont_ctrl
+			P = P_cont_q;
+		else
+			duty = mod(n*params.dt/params.Td*params.P_max, params.P_max);
+			heat = (duty < P_cont_q);
+			P = params.P_max * heat;
+		end
+		[theta, s_mass] = mass(s_mass, params.dt, params.C, params.M, params.mass_kleak, P, params.mass_delay, theta_ist-params.theta_amb);
+		theta_ist = params.theta_amb + theta + params.k_noise*randn()/sqrt(12) + params.k_noise2*cos(params.f_noise2*2*pi*n*params.dt);
+		
+		if WITH_RUNNING_MEAN
+			[theta_ist, maz] = movingavg(theta_ist, maz);
+		end
+		if WITH_LOWPASS
+			[theta_ist, lp_z] = filter(lp_b, lp_a, theta_ist, lp_z);
+		end
+		if heatRateMeasureCount <= 0
+			heatRate = 60*(theta_ist-theta_last)/params.dt/heatRateMeasureInterval;
+			heatRateMeasureCount = heatRateMeasureInterval;
+			theta_last = theta_ist ;
+		else
+			heatRateMeasureCount = heatRateMeasureCount - params.dt;
+		end	
+		n = n + 1;
+		theta_ist = theta_ist;
+		heatRate_(n) = heatRate;
+		theta_(n) = theta_ist;
+		err_(n) = err;
+		p_(n) = P;
+		pc_(n) = P_cont;
+		pcq_(n) = P_cont_q;
+		y_(n) = y;
+		P_rate_(n) = y_rate;
+		if hold_theta > 0
+			hold_theta = hold_theta - 1;
+			if hold_theta == 0
+				disp('Temperature next')
+				break;
+			end
+		elseif abs(err) < params.theta_lock
+			hold_theta = params.T/params.dt;
+			temp_ok = 1;
+			disp('Temperature is OK!')
+		end
+	end
+end
+close all;
+t = (0:n-1)*params.dt;
+
+subplot(3,1,1)
+plot(t, theta_); grid; xlabel('t/s'); ylabel('Theta/°'); title('Temperature');
+subplot(3,1,2)
+plot(t, p_, 'b-', t, y_, 'g-', pc_, 'r-'); grid; xlabel('t/s'); ylabel('P/W'); title('Power Control'); legend('P','y','P_{cont}');
+subplot(3,1,3)
+plot(t, err_); grid; xlabel('t/s'); ylabel('err/K'); title('Error'); legend('Error');
+
+figure;
+subplot(3,1,1)
+plot(t, heatRate_); grid; xlabel('t/s'); ylabel('Theta/°'); title('Aufheizrate'); axis ([0 length(t)-1 0 5])
+subplot(3,1,2)
+plot(t, P_rate_); grid; xlabel('t/s'); ylabel('Theta/°'); title('Aufheizrate');
+subplot(3,1,3)
+plot(t, heatRate_); grid; xlabel('t/s'); ylabel('Theta/°'); title('Aufheizrate');
+
+function [theta, s] = mass(si, dt, C, M, L, P, Td, dTheta)
+s = si;
+if ~isstruct(si)
+	alpha = 1.0;
+	if Td > 0
+		alpha = dt/Td;
+	end
+	s = struct('e', 0, 'a', alpha, 'x', 0);
+end
+
+s.e = s.e * (1-((L*dTheta)*dt)/(M*C));
+s.x = (1-s.a)*s.x + s.a*P*dt;
+s.e = s.e + s.x;
+theta = s.e/(M*C);
+endfunction
+
+function [y, y_clamped, s] = pid(si, kp, ki, kd, kleak, x)
+s = si;
+if ~isstruct(si)
+	s = struct('p', 0, 'i', 0, 'd', 0, 'x', 0, 'y_min', -0.0, 'y_max', 1.0, 'diff_aw', 0.0);
+end
+
+s.d = kd*(x - s.x);
+s.i = kleak*s.i + ki*x + s.diff_aw;
+s.p = kp*x;
+s.x = x;
+
+y = s.p + s.i + s.d;
+y_clamped = max(s.y_min, min(s.y_max, y));
+
+if (y < s.y_min)
+	s.diff_aw = abs(y - s.y_min);
+end
+
+if (y > s.y_max)
+	s.diff_aw = -abs(y - s.y_max);
+end
+
+
+endfunction
+
+function print_parameters(params)
+align = 32;
+names = fieldnames(params);
+for n=1:length(names),
+	fprintf('%s', names{n});
+	remain = align - length(names{n});
+	if remain < 0
+		error('Invalid variable length!');
+	else
+		for j=1:remain
+			fprintf(' ');
+		end
+		fprintf('= %g %s\n', params.(names{n}), units.(names{n}));
+	end
+end
+endfunction
+
+endfunction
+