- renamed

git-svn-id: http://moon:8086/svn/projects/HendiControl@370 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/plant_sim.py

@@ -0,0 +1,60 @@
+import numpy as np
+import json
+from aplant import APlant
+from math import sqrt
+
+class Mass(APlant):
+	def __init__(self, params):
+		print(json.dumps({'Mass': params}, indent=4, sort_keys=True))
+		self.dt = params['dt']
+		self.alpha = 1.0
+
+		self.e = 0
+		self.x = 0
+		self.gain = 0.999
+
+		self.C = params['C']
+		self.M = params['M']
+		self.L = params['L']
+		self.Td = params['Td']
+		self.kn = params['kn']
+		self.theta_amb = params['theta_amb']
+
+		self.theta = 0
+		self.P = 0
+
+		self.alpha = self.dt/1
+
+		self.Nd = int(self.Td/self.dt)
+		self.delay = np.zeros((self.Nd, 1))
+		self.ri = 0
+		self.wi = 0
+
+	def activate(self, enable):
+		pass
+
+	def process(self):
+		if self.ri >= self.delay.size:
+			self.ri = 0
+		P = self.delay[self.ri][0]
+		self.ri += 1
+
+		self.e = self.e*(1 - ((self.L*self.theta)*self.dt)/(self.M*self.C))
+		self.x = (1-self.alpha)*self.x + self.gain*self.alpha*P
+		self.e += self.x
+		self.theta = self.e/(self.M*self.C)
+
+	def setPower(self, power_w):
+		k = int(power_w / 100 +0.5)
+		P = k * 100
+		if self.wi >= self.delay.size:
+			self.wi = 0
+		self.delay[self.wi] = P
+		self.wi += 1
+		self.P = P
+
+	def getPower(self):
+		return self.P
+	
+	def getTemperature(self):
+		return round(self.theta + self.theta_amb + self.kn*np.random.normal(0,1)/sqrt(12.0), 1)