- Controller have separate PID controller for heat and hold

- do actor fusion
- PID : fixed reset()

git-svn-id: http://moon:8086/svn/projects/HendiControl@259 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/brewpi.py

@@ -29,7 +29,7 @@ def results_plot(self):
 	grid(True)
 	ylabel('°C')
 	subplot(4, 1, 2)
-	plot(self.time_v, self.power_v, 'b-', linewidth=1)
+	plot(self.time_v, self.power_heat_v, self.time_v, self.power_hold_v, self.time_v, self.power_v, 'r-', linewidth=1)
 	title('Power')
 	grid(True)
 	ylabel('W')

Control/brewpi/controller.py

@@ -25,6 +25,7 @@ class Controller(TimerListener):
 		self.dt = params['dt']
 		self.params = params
 		self.pid = Pid()
+		self.pid_rate = Pid()
 		self.timer_ist = 0
 		self.sensorTime_v = np.empty(0)
 		self.theta_raw_v = np.empty(0)
@@ -34,6 +35,8 @@ class Controller(TimerListener):
 		self.heatrate_k_v = np.empty(0)
 		self.time_v = np.empty(0)
 		self.power_v = np.empty(0)
+		self.power_heat_v = np.empty(0)
+		self.power_hold_v = np.empty(0)
 		self.error_v = np.empty(0)
 		self.time = 0
 		self.report_interval = 1.0
@@ -199,9 +202,6 @@ class Controller(TimerListener):
 		# ------------------------------
 		# The loop
 		# ------------------------------
-		if self.ctrl_theta_soll < self.ctrl_theta:
-			return True
-
 		controllerStateNext = self.controllerState
 		ovenStateNext = self.ovenState
 
@@ -218,43 +218,23 @@ class Controller(TimerListener):
 			if ctrl_theta < self.ctrl_theta_soll:
 				ovenStateNext = ovenStates.HEAT
 
-		pid_err = 0
 		if self.ovenState == ovenStates.HEAT:
-			pid_err = ctrl_heatrate_err
-			pid_params_acqu = self.params['Heat']['Acqu']['Pid']
-			pid_params_track = self.params['Heat']['Track']['Pid']
-			pid_thresh_acqu = self.params['Heat']['Acqu']['thresh_leave']
-			pid_thresh_track = self.params['Heat']['Track']['thresh_leave']
 			if (ctrl_theta + 1.0) >= self.ctrl_theta_soll:
 				ovenStateNext = ovenStates.HOLD
 				self.log("Set rast timer to {:0.1f} min.".format(timer_soll/60))
 				self.timer_ist = timer_soll
 
 		if self.ovenState == ovenStates.HOLD:
-			pid_err = ctrl_theta_err
-			pid_params_acqu = self.params['Hold']['Acqu']['Pid']
-			pid_params_track = self.params['Hold']['Track']['Pid']
-			pid_thresh_acqu = self.params['Heat']['Acqu']['thresh_leave']
-			pid_thresh_track = self.params['Heat']['Track']['thresh_leave']
 			if self.timer_ist == 0:
 				ovenStateNext = ovenStates.NOP
-				doLoop = False
 
 		if self.ovenState != ovenStates.NOP:
-			if self.controllerState == controllerStates.ACQU:
+			self.pid.process(self.dt, self.params['Hold']['Acqu']['Pid'], ctrl_theta_err)
-				pid_params = pid_params_acqu
+			self.pid_rate.process(self.dt, self.params['Heat']['Acqu']['Pid'], ctrl_heatrate_err)
-				if abs(pid_err) < pid_thresh_acqu:
-					controllerStateNext = controllerStates.TRACK
 
-			if self.controllerState == controllerStates.TRACK:
+		power_hold = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max']*self.pid.get_y()))
-				pid_params = pid_params_track
+		power_heat = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max']*self.pid_rate.get_y()))
-				if abs(pid_err) > pid_thresh_track:
+		power_soll = min(power_hold, power_heat)
-					controllerStateNext = controllerStates.ACQU
-
-			self.pid.process(self.dt, pid_params, pid_err)
-
-		y = self.pid.get_y()
-		power_soll = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max']*y))
 		self.plant.setPower(power_soll)
 		power_ist = self.plant.getPower()
 
@@ -262,13 +242,15 @@ class Controller(TimerListener):
 		self.theta_v = np.append(self.theta_v, ctrl_theta)
 		self.heatrate_v = np.append(self.heatrate_v, ctrl_heatrate)
 		self.power_v = np.append(self.power_v, power_ist)
-		self.error_v = np.append(self.error_v, pid_err)
+		self.power_hold_v = np.append(self.power_hold_v, power_hold)
+		self.power_heat_v = np.append(self.power_heat_v, power_heat)
+		self.error_v = np.append(self.error_v, ctrl_theta_err)
 
 		# -----------------------------------------
 		if ovenStateNext != self.ovenState:
 			self.log("{} -> {}".format(self.ovenState, ovenStateNext))
-			self.pid.reset()
 			if ovenStateNext == ovenStates.HEAT:
+				self.pid_rate.reset()
 				self.stirrer.setSpeed(self.stirrSpeedHeat)
 				self.stirrer.setDutyCycle(1.0)
 
@@ -289,4 +271,4 @@ class Controller(TimerListener):
 		else:
 			self.timer_ist = 0
 
-
+		return self.ovenState == ovenStates.NOP

Control/brewpi/pid.py

@@ -26,6 +26,7 @@ class Pid():
     def reset(self):
         self.yi = 0
         self.xd = 0
+        self.diff_aw = 0.0
 
     def process(self, dt, params, err, derr=None):
         kp = params['kp']