- improved controller

- plant: added duty cycle to heater control

git-svn-id: http://moon:8086/svn/projects/HendiControl@271 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/controller.py

@@ -64,8 +64,8 @@ class Controller(TimerListener):
 		self.timerMgr.registerTimer(self.plantTimer)
 		self.timerMgr.registerTimer(self.reportTimer)
 		self.rast_running = False
-		self.power_hold = 0
-		self.power_heat = 1500
+		self.power_hold_offset = 200
+		self.power_heat_offset = 1500
 
 	def onTimer(self, timer):
 		if timer == self.sensorTimer:
@@ -239,18 +239,15 @@ class Controller(TimerListener):
 			self.pid_hold.process(self.dt, self.params['Hold']['Pid'], ctrl_theta_err)
 			self.pid_rate.process(self.dt, self.params['Heat']['Pid'], ctrl_heatrate_err)
 
-		if self.ovenState == ovenStates.HOLD:
-			self.power_hold += self.params['P_max'] * self.pid_hold.get_y()
+		power_hold = self.power_hold_offset + self.params['P_max'] * self.pid_hold.get_y()
+		power_heat = self.power_heat_offset + self.params['P_max'] * self.pid_rate.get_y()
 
+		power_hold = max(self.params['P_min'], min(self.params['P_max'], power_hold))
+		power_heat = max(self.params['P_min'], min(self.params['P_max'], power_heat))
+
+		power_soll = min(power_hold, power_hold)
 		if self.ovenState == ovenStates.HEAT:
-			self.power_heat += self.params['P_max'] * self.pid_rate.get_y()
-
-		self.power_hold = max(self.params['P_min'], min(self.params['P_max'], self.power_hold))
-		self.power_heat = max(self.params['P_min'], min(self.params['P_max'], self.power_heat))
-
-		power_soll = min(self.power_hold, self.power_hold)
-		if self.ovenState == ovenStates.HEAT:
-			power_soll = min(self.power_heat, self.power_heat)
+			power_soll = min(power_heat, power_heat)
 
 		self.plant.setPower(power_soll)
 		power_ist = self.plant.getPower()
@@ -259,8 +256,8 @@ 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_soll)
-		self.power_hold_v = np.append(self.power_hold_v, self.power_hold)
-		self.power_heat_v = np.append(self.power_heat_v, self.power_heat)
+		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)
 		self.power_soll = power_soll
 
@@ -268,11 +265,13 @@ class Controller(TimerListener):
 		if ovenStateNext != self.ovenState:
 			self.log("{} -> {}".format(self.ovenState, ovenStateNext))
 			if ovenStateNext == ovenStates.HEAT:
-#				self.pid_rate.reset()
+				self.power_hold_offset = power_hold
+				self.pid_rate.reset()
 				self.stirrer.setSpeed(self.stirrSpeedHeat)
 				self.stirrer.setDutyCycle(1.0)
 
 			if ovenStateNext == ovenStates.HOLD:
+				self.power_heat_offset = power_heat
 				self.pid_hold.reset()
 				self.stirrer.setSpeed(self.stirrSpeedRast)
 				self.stirrer.setDutyCycle(self.stirrDutyRast)

Control/brewpi/plant.py

@@ -11,6 +11,9 @@ class Plant(APlant):
 		self.tempsensor = Max31865()
 		self.P = 0
 		self.isOn = False
+		self.cycleTime = 10
+		self.dutyCycle = 1
+		self.cycleCounter = 0
 
 	def activate(self, enable=True):
 		if enable == True:
@@ -20,20 +23,29 @@ class Plant(APlant):
 			self.heater.setSwitch(enable)
 			self.heater.remoteEnable(enable)
 
-	def process(self):
-		pass
+	def process(self, dt=1):
+		isOn = self.isOn
+		self.cycleCounter += dt
+		if self.cycleCounter >= self.cycleTime:
+			self.cycleCounter -= self.cycleTime
+			isOn = 0
+
+		if self.cycleCounter >= (self.cycleTime * (1-self.dutyCycle)):
+			if not isOn:
+				isOn = 1
+
+		if self.isOn != isOn:
+			if isOn:
+				self.heater.setSwitch(True)
+			else:
+				self.heater.setSwitch(False)
+
+		self.isOn = isOn
 
 	def setPower(self, power_w):
 		self.P = power_w
-		self.heater.setPowerWatts(power_w)
-		if power_w < 250:
-			if self.isOn:
-				self.heater.setSwitch(False)
-				self.isOn = False
-		elif power_w >= 500:
-			if not self.isOn:
-				self.heater.setSwitch(True)
-				self.isOn = True
+		self.heater.setPowerWatts(max(500, power_w))
+		self.dutyCycle = min(1, power_w / 500)
 
 	def getPower(self):
 		return self.heater.getPowerWatts()