jens/HendiControlFirmware
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- cleaned up parameter

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git-svn-id: http://moon:8086/svn/projects/HendiControl@233 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2019-04-04 22:58:25 +00:00
parent a826cc740f
commit 7e7c1bb9df
2 changed files with 31 additions and 30 deletions
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Control/brewpi/brewpi.json.templ
+27 -26
View File
@@ -3,11 +3,8 @@
"Controller" : "Controller" :
{ {
"dt" : 1.0, "dt" : 1.0,
"cont_ctrl" : true,
"P_min" : 0, "P_min" : 0,
"P_max" : 3000, "P_max" : 3500,
"P_q_W" : 100,
"theta_lock_K" : 0.5,
"sim_warp_factor" : 1.0, "sim_warp_factor" : 1.0,
"stirrer_name" : "Stirrer", "stirrer_name" : "Stirrer",
"plant_name" : "Mass", "plant_name" : "Mass",
@@ -15,43 +12,47 @@
"kalman" : { "kalman" : {
"dt" : 1, "dt" : 1,
"var_P" : 0, "var_P" : 0,
"var_Q" : 0.0001, "var_Q" : 0.000001,
"var_R" : 1, "var_R" : 1,
"var_Z" : 0 "var_Z" : 0.0
}, },
"Hold" : { "Hold" : {
"Acqu": { "Acqu": {
"thresh_leave" : 1.0,
"Pid" : { "Pid" : {
"kp" : 4, "kp" : 0.4,
"ki" : 0.01, "ki" : 0.002,
"kd" : 400, "kd" : 0.1,
"rho" : 0.999 "rho" : 0.9999
} }
}, },
"Track": { "Track": {
"thresh_leave" : 1.5,
"Pid" : { "Pid" : {
"kp" : 4, "kp" : 0.4,
"ki" : 0.01, "ki" : 0.002,
"kd" : 400, "kd" : 0.2,
"rho" : 0.999 "rho" : 0.9999
} }
} }
}, },
"Heat" : { "Heat" : {
"Acqu": { "Acqu": {
"thresh_leave" : 0.25,
"Pid" : { "Pid" : {
"kp" : 4, "kp" : 0.4,
"ki" : 0.02, "ki" : 0.004,
"kd" : 4, "kd" : 0.05,
"rho" : 0.999 "rho" : 0.9999
} }
}, },
"Track": { "Track": {
"thresh_leave" : 0.5,
"Pid" : { "Pid" : {
"kp" : 1, "kp" : 0.2,
"ki" : 0.02, "ki" : 0.004,
"kd" : 4, "kd" : 0.05,
"rho" : 0.999 "rho" : 0.9999
} }
} }
} }
@@ -64,8 +65,8 @@
"C" : 4190, "C" : 4190,
"M" : 20, "M" : 20,
"L" : 0.3, "L" : 0.3,
"Td" : 60, "Td" : 30,
"kn" : 0 "kn" : 0.2
}, },
"Stirrer" : "Stirrer" :
Control/brewpi/controller.py
+4 -4
View File
@@ -197,8 +197,8 @@ class Controller():
pid_err = ctrl_heatrate_err pid_err = ctrl_heatrate_err
pid_params_acqu = self.params['Heat']['Acqu']['Pid'] pid_params_acqu = self.params['Heat']['Acqu']['Pid']
pid_params_track = self.params['Heat']['Track']['Pid'] pid_params_track = self.params['Heat']['Track']['Pid']
pid_thresh_acqu = 0.2 pid_thresh_acqu = self.params['Heat']['Acqu']['thresh_leave']
pid_thresh_track = 0.5 pid_thresh_track = self.params['Heat']['Track']['thresh_leave']
if (ctrl_theta + 1.0) >= theta_soll: if (ctrl_theta + 1.0) >= theta_soll:
ovenStateNext = ovenStates.HOLD ovenStateNext = ovenStates.HOLD
self.log("Set rast timer to {:0.1f} min.".format(timer_soll/60)) self.log("Set rast timer to {:0.1f} min.".format(timer_soll/60))
@@ -208,8 +208,8 @@ class Controller():
pid_err = ctrl_theta_err pid_err = ctrl_theta_err
pid_params_acqu = self.params['Hold']['Acqu']['Pid'] pid_params_acqu = self.params['Hold']['Acqu']['Pid']
pid_params_track = self.params['Hold']['Track']['Pid'] pid_params_track = self.params['Hold']['Track']['Pid']
pid_thresh_acqu = 0.2 pid_thresh_acqu = self.params['Heat']['Acqu']['thresh_leave']
pid_thresh_track = 0.5 pid_thresh_track = self.params['Heat']['Track']['thresh_leave']
if self.timer_ist == 0: if self.timer_ist == 0:
ovenStateNext = ovenStates.NOP ovenStateNext = ovenStates.NOP
doLoop = False doLoop = False