jens/HendiControlFirmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

reorganized

Browse Source 
git-svn-id: http://moon:8086/svn/projects/HendiControl@3 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2018-09-10 16:37:10 +00:00
parent 0694d4ea69
commit 40af495a6c
1 changed files with 34 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
matlab/brew_eval.m
+34 -20
View File
@@ -20,10 +20,11 @@ function brew_eval(varargin)
%
% brew_eval('M', 20.0, 'cont_ctrl', 0, 'kp', 0.1, 'ki', 0.1, 'kd', 100, 'T', 1800, 'mass_kleak', 0.2, 'P_q', 100, 'mass_delay', 100, [50 60 70 80]);
WITH_LOWPASS = 1;
WITH_LOWPASS = 0;
WITH_RUNNING_MEAN = 0;
WITH_RATE_CONTROLLER = 1;
params = struct ('cont_ctrl',0, 'C',4.19e3, 'M',10, 'mass_kleak',0.1, 'mass_delay',50, 'P_min',0, 'P_max',3000, 'P_q',100, 'T',100, 'dt',1.0, 'Td',10.0, 'theta_lock',0.5, 'theta_amb',20.0, 'kp',10, 'ki',0.04, 'kd',500, 'pid_kleak',0.1, 'k_noise', 0.01, 'k_noise2', 0.0, 'f_noise2', 0.01);
params = struct ('cont_ctrl',0, 'C',4.19e3, 'M',10, 'mass_kleak',0.5, 'mass_delay',50, 'P_min',0, 'P_max',3000, 'P_q',100, 'T',100, 'dt',1.0, 'Td',10.0, 'theta_lock',0.5, 'theta_amb',20.0, 'kp',10, 'ki',0.04, 'kd',500, 'pid_kleak',0.1, 'k_noise', 0.0, 'k_noise2', 0.0, 'f_noise2', 0.01);
units = struct ('cont_ctrl', '', 'C', 'J/(kg*K)', 'M', 'kg', 'mass_kleak', '', 'mass_delay', 's', 'P_min', 'W', 'P_max', 'W', 'P_q','W', 'T', 's', 'dt', 's', 'Td', 's', 'theta_lock', '°C', 'theta_amb', '°C', 'kp', '', 'ki', '', 'kd', '', 'pid_kleak', '', 'k_noise', '', 'k_noise2', '', 'f_noise2', 'Hz');
% Parse parameters
@@ -46,17 +47,22 @@ theta_ist = params.theta_amb;
theta_last = params.theta_amb;
thetas = varargin{nargin}
heatRate = 0;
heatRateMeasureInterval = 30.0; % seconds
heatRate_f = 0;
heatRateMeasureInterval = 10.0; % seconds
heatRateMeasureCount = 0; % seconds
n = 0;
nSteps = params.P_max / params.P_q;
N = 2*fix(length(thetas)*params.T/params.dt);
maz = 17;
lp_N = 17;
[lp_b, lp_a] = butter (lp_N-1, 0.125);
lp_z = zeros(1, length(lp_b)-1);
maz = 17;
lp_rate_N = 17;
[lp_rate_b, lp_rate_a] = butter (lp_rate_N-1, 0.125);
lp_rate_z = zeros(1, length(lp_rate_b)-1);
for k=1:length(thetas)
theta_soll = thetas(k);
@@ -64,17 +70,23 @@ for k=1:length(thetas)
temp_ok = 0;
while n < N,
err = theta_ist - theta_soll;
[y, yc, s_pid] = pid(s_pid, params.kp, params.ki*params.dt, params.kd*params.dt, 1-params.pid_kleak, -err);
[y, yc, s_pid] = jpid(s_pid, params.kp, params.ki*params.dt, params.kd*params.dt, 1-params.pid_kleak, -err);
s_pid.y_max = 50;
P_rate = params.P_max;
% Rate controller
err_rate = heatRate - 1.0;
[y_rate, yc_rate, s_pid_rate] = pid(s_pid_rate, 1.0*params.dt, 0.001*params.dt, 0*params.dt, 1-params.pid_kleak, -err_rate);
P_rate = max(params.P_min+1, min(params.P_max, y_rate));
[y_rate, yc_rate, s_pid_rate] = jpid(s_pid_rate, 0.4*params.dt, 0.001*params.dt, 8.0*params.dt, 0.999, -err_rate);
s_pid_rate.y_max = 4000;
if WITH_RATE_CONTROLLER
if (hold_theta == 0)
P_rate = min(params.P_max, params.P_max*y_rate);
end
end
% Rate controller
P_norm = max(params.P_min/params.P_max, min(1.0, yc));
P_cont = P_norm * params.P_max;
P_cont_q = fix(P_norm * nSteps)*params.P_q;
P_cont = max(params.P_min, min(P_rate, P_rate*y));
P_cont_q = P_cont; %fix(P_norm * nSteps)*params.P_q;
if params.cont_ctrl
P = P_cont_q;
else
@@ -92,22 +104,24 @@ for k=1:length(thetas)
[theta_ist, lp_z] = filter(lp_b, lp_a, theta_ist, lp_z);
end
if heatRateMeasureCount <= 0
heatRate = 60*(theta_ist-theta_last)/params.dt/heatRateMeasureInterval;
heatRate = 60*(theta_ist-theta_last)/heatRateMeasureInterval;
heatRateMeasureCount = heatRateMeasureInterval;
theta_last = theta_ist ;
else
heatRateMeasureCount = heatRateMeasureCount - params.dt;
end
[heatRate_f, lp_rate_z] = filter(lp_rate_b, lp_rate_a, heatRate, lp_rate_z);
n = n + 1;
theta_ist = theta_ist;
heatRate_(n) = heatRate;
heatRate_(n) = heatRate_f;
theta_(n) = theta_ist;
err_(n) = err;
p_(n) = P;
pc_(n) = P_cont;
pcq_(n) = P_cont_q;
y_(n) = y;
P_rate_(n) = y_rate;
P_rate_(n) = P_rate;
err_rate_(n) = err_rate;
if hold_theta > 0
hold_theta = hold_theta - 1;
if hold_theta == 0
@@ -133,11 +147,11 @@ plot(t, err_); grid; xlabel('t/s'); ylabel('err/K'); title('Error'); legend('Err
figure;
subplot(3,1,1)
plot(t, heatRate_); grid; xlabel('t/s'); ylabel('Theta/°'); title('Aufheizrate'); axis ([0 length(t)-1 0 5])
subplot(3,1,2)
plot(t, P_rate_); grid; xlabel('t/s'); ylabel('Theta/°'); title('Aufheizrate');
subplot(3,1,3)
plot(t, heatRate_); grid; xlabel('t/s'); ylabel('Theta/°'); title('Aufheizrate');
subplot(3,1,2)
plot(t, P_rate_); grid; xlabel('t/s'); ylabel('Theta/°'); title('P_rate');
subplot(3,1,3)
plot(t, err_rate_); grid; xlabel('t/s'); ylabel('Theta/°'); title('Error');
function [theta, s] = mass(si, dt, C, M, L, P, Td, dTheta)
s = si;
@@ -146,11 +160,11 @@ if ~isstruct(si)
if Td > 0
alpha = dt/Td;
end
s = struct('e', 0, 'a', alpha, 'x', 0);
s = struct('e', 0, 'a', alpha, 'x', 0, 'gain', 0.7);
end
s.e = s.e * (1-((L*dTheta)*dt)/(M*C));
s.x = (1-s.a)*s.x + s.a*P*dt;
s.x = (1-s.a)*s.x + s.gain*s.a*P*dt;
s.e = s.e + s.x;
theta = s.e/(M*C);
endfunction