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- temperature from plant simulation is rounded

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and now causes problems estimating heat rate
- create smoother at contruction time

git-svn-id: http://moon:8086/svn/projects/HendiControl@201 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2019-03-31 08:45:03 +00:00
parent f9fdf411db
commit 19d8294868
2 changed files with 14 additions and 9 deletions
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Control/brewpi/controller.py
+13 -8
View File
@@ -39,6 +39,10 @@ class Controller():
self.is_pause = False
self.is_restart = False
self.receipe = None
self.theta_sm = Smoother(1.0)
self.heatrate_sm = Smoother(0.5)
self.theta_err_sm = Smoother(1.0)
self.heatrate_err_sm = Smoother(1.0)
def log(self, s):
now = time.time()
@@ -132,8 +136,6 @@ class Controller():
# The loop
# ------------------------------
doLoop = True
theta_err_sm = Smoother(0.5)
heatrate_err_sm = Smoother(0.5)
while(doLoop):
time_start = time.time()
@@ -144,15 +146,18 @@ class Controller():
# -----------------------------------------
self.stirrer.process()
self.plant.process()
theta_ist = self.plant.getTemperature()
heatrate_ist = 60/self.dt * (theta_ist - self.theta_ist)
theta = self.plant.getTemperature()
theta_ist = self.theta_sm.process(theta)
heatrate = 60/self.dt * (theta_ist - self.theta_ist)
heatrate_ist = self.heatrate_sm.process(heatrate)
theta_err = theta_soll - theta_ist
heatrate_err = heatrate_soll - heatrate_ist
theta_err_sm.process(theta_err)
heatrate_err_sm.process(heatrate_err)
self.theta_err_sm.process(theta_err)
self.heatrate_err_sm.process(heatrate_err)
if self.ovenState == ovenStates.NOP:
if theta_ist < theta_soll:
@@ -160,7 +165,7 @@ class Controller():
pid_err = 0
if self.ovenState == ovenStates.HEAT:
pid_err = heatrate_err_sm.get_y()
pid_err = self.heatrate_err_sm.get_y()
pid_params_acqu = self.params['Heat']['Acqu']['Pid']
pid_params_track = self.params['Heat']['Track']['Pid']
pid_thresh_acqu = 0.2
@@ -171,7 +176,7 @@ class Controller():
self.timer_ist = timer_soll
if self.ovenState == ovenStates.HOLD:
pid_err = theta_err_sm.get_y()
pid_err = self.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
Control/brewpi/mass.py
+1 -1
View File
@@ -39,4 +39,4 @@ class Mass(APlant):
return self.P
def getTemperature(self):
return self.theta + self.theta_amb + self.kn*np.random.normal(0,1)/sqrt(12.0)
return round(self.theta + self.theta_amb + self.kn*np.random.normal(0,1)/sqrt(12.0), 1)