- reworked

git-svn-id: http://moon:8086/svn/projects/HendiControl@113 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/mass.py

@@ -0,0 +1,35 @@
+import numpy as np
+import json
+from aplant import APlant
+
+class Mass(APlant):
+	def __init__(self, params):
+		print(json.dumps({'Mass': params}, indent=4, sort_keys=True))
+		self.e = 0
+		self.x = 0
+		self.gain = 0.8
+
+		self.C = params['C']
+		self.M = params['M']
+		self.L = params['L']
+		self.Td = params['Td']
+		self.theta_amb = params['theta_amb']
+
+		self.theta = 0
+		self.P = 0
+
+	def process(self, dt):
+		alpha = 1.0
+		if self.Td > 0:
+			alpha = dt/self.Td
+
+		self.e = self.e*(1 - ((self.L*self.theta)*dt)/(self.M*self.C))
+		self.x = (1-alpha)*self.x + self.gain*alpha*self.P*dt
+		self.e += self.x
+		self.theta = self.e/(self.M*self.C)
+
+	def setPower(self, power_w):
+		self.P = power_w
+
+	def getTemperature(self):
+		return self.theta + self.theta_amb