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- added stirrer

Browse Source 
- many other improvements

git-svn-id: http://moon:8086/svn/projects/HendiControl@116 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2019-03-21 17:55:37 +00:00
parent 75b920047a
commit 08d8c32106
10 changed files with 213 additions and 71 deletions
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Control/brewpi/Rezept-001.json
+30 -6
View File
@@ -1,13 +1,37 @@
{
"Name" : "Rezept-001",
"Schuettung_kg" : 6,
"Wasser_kg" : 18,
"Schuettung_kg" : 6,
"Wasser_kg" : 18,
"stirrRpmHeat" : 999,
"stirrRpmRast" : 555,
"stirrDutyRast" : 0.2,
"stirrCycleTime" : 120,
"Rasten" :
[
{"time" : 15, "temp" : 50.0, "heatRate" : 1.0, "stirDutyCycle" : 0.5, "waitForUser" : true},
{"time" : 20, "temp" : 60.0, "heatRate" : 0.5, "stirDutyCycle" : 0.5, "waitForUser" : false},
{"time" : 30, "temp" : 70.0, "heatRate" : 0.5, "stirDutyCycle" : 0.5, "waitForUser" : false},
{"time" : 5, "temp" : 80.0, "heatRate" : 0.5, "stirDutyCycle" : 0.5, "waitForUser" : true}
{
"time" : 15,
"temp" : 50.0,
"heatRate" : 0.25,
"waitForUser" : true
},
{
"time" : 20,
"temp" : 60.0,
"heatRate" : 0.50,
"waitForUser" : false
},
{
"time" : 30,
"temp" : 70.0,
"heatRate" : 0.75,
"waitForUser" : false
},
{
"time" : 5,
"temp" : 80.0,
"heatRate" : 1.00,
"waitForUser" : true
}
]
}
Control/brewpi/aplant.py
+1 -1
View File
@@ -7,7 +7,7 @@ class APlant(abc.ABC):
pass
@abc.abstractmethod
def process(self, dt):
def process(self):
pass
@abc.abstractmethod
Control/brewpi/astirrer.py
+35
View File
@@ -0,0 +1,35 @@
import numpy as np
import abc
class AStirrer(abc.ABC):
def __init__(self):
pass
@abc.abstractmethod
def process(self):
pass
@abc.abstractmethod
def setRpm(self, rpm):
pass
@abc.abstractmethod
def setCycleTime(self, time):
pass
@abc.abstractmethod
def setDutyCycle(self, dutyCycle):
pass
@abc.abstractmethod
def getRpm(self):
return None
@abc.abstractmethod
def start(self):
pass
@abc.abstractmethod
def stop(self):
pass
Control/brewpi/brewpi.cfg.json
+10 -4
View File
@@ -37,23 +37,29 @@
},
"Track": {
"Pid" : {
"kp" : 8,
"ki" : 0.03,
"kd" : 8,
"kp" : 1,
"ki" : 0.2,
"kd" : 4,
"rho" : 0.999
}
}
}
},
"Simulation" :
"WaterSim" :
{
"dt" : 1.0,
"theta_amb" : 20,
"C" : 4190,
"M" : 20,
"L" : 0.3,
"Td" : 10,
"kn" : 0
},
"Stirrer" :
{
"dt" : 1.0
}
}
Control/brewpi/controller.py
+62 -44
View File
@@ -11,11 +11,12 @@ controllerStates = Enum('controllerStates', 'ACQU TRACK')
class Controller():
def __init__(self, params, plant):
def __init__(self, params, plant, stirrer):
print(json.dumps({'Controller': params}, indent=4, sort_keys=True))
self.ovenState = ovenStates.NOP
self.controllerState = controllerStates.ACQU
self.plant = plant
self.stirrer = stirrer
self.dt = params['dt']
self.params = params
self.pid = Pid()
@@ -23,20 +24,23 @@ class Controller():
self.heatrate_v = np.empty(0)
self.time_v = np.empty(0)
self.power_v = np.empty(0)
self.theta_err_v = np.empty(0)
self.heatrate_err_v = np.empty(0)
self.theta_ist = 0
self.error_v = np.empty(0)
self.time = 0
pass
def start(self, recipe):
print(json.dumps({recipe['Name'] : recipe}, indent=4, sort_keys=True))
# Stirrer
self.stirrRpmHeat = recipe['stirrRpmHeat']
self.stirrRpmRast = recipe['stirrRpmRast']
self.stirrDutyRast = recipe['stirrDutyRast']
self.stirrCycleTime = recipe['stirrCycleTime']
self.time = 0
for rast in recipe['Rasten']:
self.rast(rast)
def stop(self):
figure(1)
subplot(4, 1, 1)
@@ -50,8 +54,8 @@ class Controller():
grid(True)
ylabel('W')
subplot(4, 1, 3)
plot(self.time_v, self.theta_err_v, 'b-', linewidth=1)
title('Temperature Error')
plot(self.time_v, self.error_v, 'b-', linewidth=1)
title('Error')
grid(True)
ylabel('°C')
subplot(4, 1, 4)
@@ -63,53 +67,58 @@ class Controller():
show()
def rast(self, rast):
temp_soll = rast['temp']
heatrate_soll = rast['heatRate']
print("Target temperature {} °C".format(temp_soll))
doLoop = True
timer_ist = 0
heatrate_ist = 0
timer_soll = 60*rast['time']/self.dt
heatRateMeasureInterval = 1
heatRateMeasureCount = 1
theta_err_sm = Smoother(0.5)
heatrate_err_sm = Smoother(0.5)
# Stirrer
self.stirrer.start()
self.stirrer.setCycleTime(self.stirrCycleTime)
# Temperature
theta_last = self.plant.getTemperature()
theta_soll = rast['temp']
heatrate_soll = rast['heatRate']
print("Target temperature {} °C".format(theta_soll))
# Timer
timer_ist = 0
timer_soll = 60*rast['time']/self.dt
# ------------------------------
# The loop
# ------------------------------
doLoop = True
theta_err_sm = Smoother(0.5)
heatrate_err_sm = Smoother(0.5)
while(doLoop):
controllerStateNext = self.controllerState
ovenStateNext = self.ovenState
# -----------------------------------------
self.plant.process(self.dt)
self.stirrer.process()
self.plant.process()
theta_ist = self.plant.getTemperature()
if heatRateMeasureCount <= 0:
heatrate_ist = 60 * (theta_ist - self.theta_ist) / heatRateMeasureInterval;
heatRateMeasureCount = heatRateMeasureInterval;
theta_last = theta_ist;
heatrate_ist = 60/self.dt * (theta_ist - theta_last)
heatRateMeasureCount = heatRateMeasureCount - self.dt;
# print ("{}: Temp IST = {:0.2f} °C".format(timer_ist, temp_ist))
# print ("{}: Temp IST = {:0.2f} °C".format(timer_ist, temp_ist))
theta_err = temp_soll - theta_ist
theta_err = theta_soll - theta_ist
heatrate_err = heatrate_soll - heatrate_ist
theta_err_sm.process(theta_err)
heatrate_err_sm.process(heatrate_err)
if self.ovenState == ovenStates.NOP:
if theta_ist < temp_soll:
if theta_ist < theta_soll:
ovenStateNext = ovenStates.HEAT
pid_err = 0
if self.ovenState == ovenStates.HEAT:
pid_err = heatrate_err_sm.get_y()
pid_params_acqu = self.params['Heat']['Acqu']['Pid']
pid_params_track = self.params['Heat']['Track']['Pid']
if theta_ist >= temp_soll:
pid_thresh_acqu = 0.2
pid_thresh_track = 0.5
if theta_ist >= theta_soll:
ovenStateNext = ovenStates.HOLD
timer_ist = 0
@@ -117,6 +126,8 @@ class Controller():
pid_err = theta_err_sm.get_y()
pid_params_acqu = self.params['Hold']['Acqu']['Pid']
pid_params_track = self.params['Hold']['Track']['Pid']
pid_thresh_acqu = 0.2
pid_thresh_track = 0.5
timer_ist += self.dt
if timer_ist >= timer_soll:
ovenStateNext = ovenStates.NOP
@@ -125,42 +136,49 @@ class Controller():
if self.ovenState != ovenStates.NOP:
if self.controllerState == controllerStates.ACQU:
pid_params = pid_params_acqu
if abs(theta_err) < 0.2:
if abs(pid_err) < pid_thresh_acqu:
controllerStateNext = controllerStates.TRACK
if self.controllerState == controllerStates.TRACK:
pid_params = pid_params_track
if abs(theta_err) > 0.5:
if abs(pid_err) > pid_thresh_track:
controllerStateNext = controllerStates.ACQU
self.pid.process(pid_params, pid_err)
self.pid.process(self.dt, pid_params, pid_err)
y = self.pid.get_y()
# print ("theta_err = {:0.2f} °C".format(theta_err))
power = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max']*y))
# print ("Power = {:0.2f} W".format(power))
self.plant.setPower(power)
self.time += self.dt
self.theta_ist = theta_ist
theta_last = theta_ist
self.theta_v = np.append(self.theta_v, theta_ist)
self.heatrate_v = np.append(self.heatrate_v, heatrate_ist)
self.time_v = np.append(self.time_v, self.time/60)
self.power_v = np.append(self.power_v, power)
self.theta_err_v = np.append(self.theta_err_v, theta_err_sm.get_y())
self.heatrate_err_v = np.append(self.heatrate_err_v, heatrate_err_sm.get_y())
self.error_v = np.append(self.error_v, pid_err)
#self.error_v = np.append(self.error_v, self.stirrer.getRpm())
# print ("theta_err = {:0.2f} °C".format(theta_err))
# print ("Power = {:0.2f} W".format(power))
# -----------------------------------------
if ovenStateNext != self.ovenState:
print("{} -> {}".format(self.ovenState, ovenStateNext))
if ovenStateNext == ovenStates.HEAT:
self.stirrer.setRpm(self.stirrRpmHeat)
self.stirrer.setDutyCycle(1.0)
if ovenStateNext == ovenStates.HOLD:
self.stirrer.setRpm(self.stirrRpmRast)
self.stirrer.setDutyCycle(self.stirrDutyRast)
if controllerStateNext != self.controllerState:
print("{} -> {}".format(self.controllerState, controllerStateNext))
if ovenStateNext != self.ovenState:
print("{} -> {}".format(self.ovenState, ovenStateNext))
self.controllerState = controllerStateNext
self.ovenState = ovenStateNext
self.controllerState = controllerStateNext
# ------------------------------
# ------------------------------
self.stirrer.stop()
Control/brewpi/main.py
+4 -4
View File
@@ -6,20 +6,20 @@ import configparser
from pid import Pid
from controller import Controller
from mass import Mass
from stirrer import Stirrer
if __name__ == '__main__':
fp = open("brewpi.cfg.json")
configJson = json.load(fp)
plant = Mass(configJson["Simulation"])
temp = plant.getTemperature()
plant = Mass(configJson["WaterSim"])
ruehrer = Stirrer(configJson["Stirrer"])
ablauf = Controller(configJson["Controller"], plant, ruehrer)
fp = open("Rezept-001.json")
recipeJson = json.load(fp)
ablauf = Controller(configJson["Controller"], plant)
ablauf.start(recipeJson)
ablauf.stop()
Control/brewpi/mass.py
+8 -6
View File
@@ -5,9 +5,12 @@ from aplant import APlant
class Mass(APlant):
def __init__(self, params):
print(json.dumps({'Mass': params}, indent=4, sort_keys=True))
self.dt = params['dt']
self.alpha = 1.0
self.e = 0
self.x = 0
self.gain = 0.8
self.gain = 0.95
self.C = params['C']
self.M = params['M']
@@ -18,13 +21,12 @@ class Mass(APlant):
self.theta = 0
self.P = 0
def process(self, dt):
alpha = 1.0
if self.Td > 0:
alpha = dt/self.Td
self.alpha = self.dt/self.Td
self.e = self.e*(1 - ((self.L*self.theta)*dt)/(self.M*self.C))
self.x = (1-alpha)*self.x + self.gain*alpha*self.P*dt
def process(self):
self.e = self.e*(1 - ((self.L*self.theta)*self.dt)/(self.M*self.C))
self.x = (1-self.alpha)*self.x + self.gain*self.alpha*self.P
self.e += self.x
self.theta = self.e/(self.M*self.C)
Control/brewpi/pid.py
+4 -4
View File
@@ -11,7 +11,7 @@ class Pid():
# Auto windup
self.y_min = 0.0
self.y_max = 80.0
self.y_max = 100.0
self.diff_aw = 0.0
# Output
@@ -23,7 +23,7 @@ class Pid():
p = dict(kp=kp, ki=ki, kd=kd, rho=rho)
return p
def process(self, params, err):
def process(self, dt, params, err):
kp = params['kp']
ki = params['ki']
kd = params['kd']
@@ -34,8 +34,8 @@ class Pid():
yd = err - self.xd
_yp = kp * err
_yi = ki * yi
_yd = kd * yd
_yi = ki*dt * yi
_yd = kd/dt * yd
self.y = _yp + _yi + _yd
Control/brewpi/stirrer.py
+52
View File
@@ -0,0 +1,52 @@
from astirrer import AStirrer
class Stirrer(AStirrer):
def __init__(self, params):
self.params = params
self.rpm = 0
self.cycleTime = 1
self.dutyCycle = 1
self.cycleCounter = 0
self.isOn = 0
self.isMasterOn = 0
def process(self):
dt = self.params["dt"]
self.cycleCounter -= dt
if self.cycleCounter <= 0:
self.cycleCounter = self.cycleTime
if self.cycleCounter <= (self.cycleTime * self.dutyCycle):
if not self.isOn:
print ("Stirrer: On")
self.isOn = 1
else:
if self.isOn:
print ("Stirrer: Off")
self.isOn = 0
def setRpm(self, rpm):
print ("Stirrer: Set RPM to {} rpm".format(rpm))
self.rpm = rpm
def setCycleTime(self, time):
print ("Stirrer: Set cycle time to {} s".format(time))
self.cycleTime = time
def setDutyCycle(self, dutyCycle):
print ("Stirrer: Set duty cycle to {} %".format(100*dutyCycle))
self.dutyCycle = dutyCycle
def getRpm(self):
if self.isOn and self.isMasterOn:
return self.rpm
return 0
def start(self):
self.isMasterOn = 1
print("Stirrer: switched On")
def stop(self):
self.isMasterOn = 0
print("Stirrer: switched Off")
Control/brewpi/utils.py
+7 -2
View File
@@ -6,6 +6,7 @@ class Smoother:
def process(self, x):
self.y = self.b*self.y + self.a*x
return self.y
def get_y(self):
return self.y
@@ -15,6 +16,7 @@ class Stable:
self.stable_time = stable_count
self.count = stable_count
self.err_max = err_max
self.is_stable = 0
self.x = 0
def process(self, x):
@@ -24,6 +26,9 @@ class Stable:
if abs(x - self.x) >= self.err_max:
self.count = self.stable_time
is_stable = (self.count == 0)
self.is_stable = (self.count == 0)
return is_stable
return self.is_stable
def is_stable(self):
return self.is_stable