jens/HendiControlFirmware
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- use kalman params

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- some improvements for real hardware cooker and temp sensor


git-svn-id: http://moon:8086/svn/projects/HendiControl@221 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2019-04-03 19:17:53 +00:00
parent 4e884cae91
commit 3116a18c90
1 changed files with 7 additions and 15 deletions
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Control/brewpi/controller.py
+7 -15
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@@ -46,15 +46,8 @@ class Controller():
self.heatrate_sm = Smoother(0.01) self.heatrate_sm = Smoother(0.01)
self.theta_err_sm = Smoother(1.0) self.theta_err_sm = Smoother(1.0)
self.heatrate_err_sm = Smoother(1.0) self.heatrate_err_sm = Smoother(1.0)
self.useKalman = params['useKalman']
kparams = { self.kalman = Kalman(params['kalman'])
'dt': 1,
'var_P': 0,
'var_Q': 0.00001,
'var_R': 2,
'var_Z': 0
}
self.kalman = Kalman(kparams)
def log(self, s): def log(self, s):
now = time.time() now = time.time()
@@ -132,7 +125,7 @@ class Controller():
def rast(self, rast): def rast(self, rast):
# Temperature # Temperature
self.theta = self.plant.getTemperature() theta = self.plant.getTemperature()
theta_soll = rast['temp'] theta_soll = rast['temp']
heatrate_soll = rast['heatRate'] heatrate_soll = rast['heatRate']
self.log("Target temperature {} °C".format(theta_soll)) self.log("Target temperature {} °C".format(theta_soll))
@@ -142,13 +135,13 @@ class Controller():
timer_soll = 60*rast['time'] timer_soll = 60*rast['time']
# Kalman filter initial value # Kalman filter initial value
self.kalman.initial((self.theta, 0)) self.kalman.initial((theta, 0))
self.theta_sm.initial(self.theta) self.theta_sm.initial(theta)
# ------------------------------ # ------------------------------
# The loop # The loop
# ------------------------------ # ------------------------------
doLoop = theta_soll > self.theta doLoop = theta_soll > theta
if doLoop: if doLoop:
# Stirrer # Stirrer
self.stirrer.activate() self.stirrer.activate()
@@ -156,7 +149,6 @@ class Controller():
self.stirrer.setCycleTime(self.stirrCycleTime) self.stirrer.setCycleTime(self.stirrCycleTime)
useKalman = False
while(doLoop): while(doLoop):
time_start = time.time() time_start = time.time()
@@ -184,7 +176,7 @@ class Controller():
self.theta_v = np.append(self.theta_v, theta_ist) self.theta_v = np.append(self.theta_v, theta_ist)
self.heatrate_v = np.append(self.heatrate_v, dtheta_ist * 60/self.dt) self.heatrate_v = np.append(self.heatrate_v, dtheta_ist * 60/self.dt)
if useKalman: if self.useKalman:
ctrl_theta_err = theta_soll - theta_ist_k ctrl_theta_err = theta_soll - theta_ist_k
ctrl_heatrate_err = heatrate_soll - dtheta_ist_k * 60/self.dt ctrl_heatrate_err = heatrate_soll - dtheta_ist_k * 60/self.dt
ctrl_theta = theta_ist_k ctrl_theta = theta_ist_k