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git-svn-id: http://moon:8086/svn/projects/HendiControl@2 fda53097-d464-4ada-af97-ba876c37ca34
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jens
2018-09-10 16:35:27 +00:00
commit 0694d4ea69
10 changed files with 363 additions and 0 deletions
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Control/.goutputstream-6QMDOZ
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#<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
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#<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/ATmega328_P AVR MCU with picoPower Technology Data Sheet 40001984A.pdf
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Control/DS_FT232R.pdf
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Control/LTC6258.pdf
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Control/cmds.txt
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#<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>
MotorDriver/1158fb.pdf
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MotorDriver/11602fb.pdf
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MotorDriver/LTMag_V02N1_Feb92.pdf
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matlab/brew_eval.m
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## 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