jens/HendiControlFirmware
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- new template, changed dt to 3 for rast and sensor

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- added plant timer

git-svn-id: http://moon:8086/svn/projects/HendiControl@267 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2019-04-25 17:01:46 +00:00
parent f3b3e1c091
commit 09041d8ed8
2 changed files with 18 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Control/brewpi/brewpi.json.templ
+9 -9
View File
@@ -2,7 +2,7 @@
"Controller" : "Controller" :
{ {
"dt" : 1.0, "dt" : 3.0,
"P_min" : 0, "P_min" : 0,
"P_max" : 3500, "P_max" : 3500,
"sim_warp_factor" : 1000.0, "sim_warp_factor" : 1000.0,
@@ -10,7 +10,7 @@
"plant_name" : "Mass", "plant_name" : "Mass",
"useKalman" : true, "useKalman" : true,
"kalman" : { "kalman" : {
"dt" : 1.0, "dt" : 3.0,
"var_P" : 0, "var_P" : 0,
"var_Q" : 0.000001, "var_Q" : 0.000001,
"var_R" : 1, "var_R" : 1,
@@ -18,18 +18,18 @@
}, },
"Hold" : { "Hold" : {
"Pid" : { "Pid" : {
"kp" : 0.2, "kp" : 0.1,
"ki" : 0.0005, "ki" : 0.00004,
"kd" : 0.05, "kd" : 0.0,
"rho" : 0.99999 "rho" : 0.9999
} }
}, },
"Heat" : { "Heat" : {
"Pid" : { "Pid" : {
"kp" : 0.1, "kp" : 0.1,
"ki" : 0.004, "ki" : 0.002,
"kd" : 0.05, "kd" : 0.0,
"rho" : 0.99999 "rho" : 0.9999
} }
} }
}, },
Control/brewpi/controller.py
+9 -5
View File
@@ -58,8 +58,10 @@ class Controller(TimerListener):
self.rastTimer = Timer("Rast", self) self.rastTimer = Timer("Rast", self)
self.sensorTimer = Timer("Sensor", self) self.sensorTimer = Timer("Sensor", self)
self.plantTimer = Timer("Plant", self)
self.reportTimer = Timer("Report", self) self.reportTimer = Timer("Report", self)
self.timerMgr.registerTimer(self.sensorTimer) self.timerMgr.registerTimer(self.sensorTimer)
self.timerMgr.registerTimer(self.plantTimer)
self.timerMgr.registerTimer(self.reportTimer) self.timerMgr.registerTimer(self.reportTimer)
self.rast_running = False self.rast_running = False
@@ -67,9 +69,6 @@ class Controller(TimerListener):
if timer == self.sensorTimer: if timer == self.sensorTimer:
self.sensorTime_v = np.append(self.sensorTime_v, timer.count*self.sensor_dt / 60) self.sensorTime_v = np.append(self.sensorTime_v, timer.count*self.sensor_dt / 60)
# Process plant
self.plant.process()
# Temperature # Temperature
self.theta_raw = self.plant.getTemperature() self.theta_raw = self.plant.getTemperature()
@@ -84,10 +83,14 @@ class Controller(TimerListener):
Z = self.kalman.process_measurement((self.theta_raw, 0)) Z = self.kalman.process_measurement((self.theta_raw, 0))
xp = self.kalman.process(Z) xp = self.kalman.process(Z)
self.theta_ist_k = xp[0, 0] self.theta_ist_k = xp[0, 0]
self.heatrate_ist_k = xp[1, 0] * 60 / self.sensor_dt self.heatrate_ist_k = xp[1, 0] * 60
self.theta_k_v = np.append(self.theta_k_v, self.theta_ist_k) self.theta_k_v = np.append(self.theta_k_v, self.theta_ist_k)
self.heatrate_k_v = np.append(self.heatrate_k_v, self.heatrate_ist_k) self.heatrate_k_v = np.append(self.heatrate_k_v, self.heatrate_ist_k)
if timer == self.plantTimer:
# Process plant
self.plant.process()
if timer == self.reportTimer: if timer == self.reportTimer:
self.report() self.report()
@@ -112,6 +115,7 @@ class Controller(TimerListener):
print(json.dumps({recipe['Name'] : recipe}, indent=4, sort_keys=True)) print(json.dumps({recipe['Name'] : recipe}, indent=4, sort_keys=True))
self.sensorTimer.start(self.sensor_dt/self.sim_warp_factor) self.sensorTimer.start(self.sensor_dt/self.sim_warp_factor)
self.plantTimer.start(1/self.sim_warp_factor)
self.reportTimer.start(self.report_interval) self.reportTimer.start(self.report_interval)
self.rastTimer.start(self.dt/self.sim_warp_factor) self.rastTimer.start(self.dt/self.sim_warp_factor)
@@ -257,7 +261,7 @@ class Controller(TimerListener):
self.stirrer.setDutyCycle(1.0) self.stirrer.setDutyCycle(1.0)
if ovenStateNext == ovenStates.HOLD: if ovenStateNext == ovenStates.HOLD:
self.pid_hold.reset() # self.pid_hold.reset()
self.stirrer.setSpeed(self.stirrSpeedRast) self.stirrer.setSpeed(self.stirrSpeedRast)
self.stirrer.setDutyCycle(self.stirrDutyRast) self.stirrer.setDutyCycle(self.stirrDutyRast)