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

- use heat diffusion for water model instead of delay line

Browse Source
This commit is contained in:
jens
2021-10-12 12:01:40 +02:00
parent 89ac2b8ea8
commit 16cb3d3b3c
3 changed files with 39 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/pid/temp_controller_smith.py
+11 -9
View File
@@ -1,4 +1,4 @@
from components.plant.pot import Pot, Delay
from components.plant.pot import Pot, HeatDiffusion
from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
from components.pid import Pid, Kalman
from components import APid
@@ -28,6 +28,7 @@ class TempController(APid):
self.params = params
self.model_params = model_params
self.kalman_model = Kalman(dt, params['Kalman'])
self.kalman_model_delay = Kalman(dt, params['Kalman'])
self.kalman_plant = Kalman(dt, params['Kalman'])
self.y = -1
self.state = States.IDLE
@@ -35,8 +36,6 @@ class TempController(APid):
self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat'])
self.model = Pot(dt, model_params)
self.theta_ist_delay_model = Delay(dt, model_params['Td'], 0)
self.dtheta_ist_delay_model = Delay(dt, model_params['Td'], 0)
self.is_startup = True
def set_theta_ist(self, value):
@@ -44,6 +43,7 @@ class TempController(APid):
if self.is_startup:
self.is_startup = False
self.kalman_model.initial((value, 0))
self.kalman_model_delay.initial((value, 0))
self.kalman_plant.initial((value, 0))
def get_theta_ist(self):
@@ -75,12 +75,16 @@ class TempController(APid):
def process(self):
# Process Kalman of Model
Z_model = self.kalman_model.process_measurement((self.model.get_temperature_intermediate(), 0), 0.0)
xp_model = self.kalman_model.process(Z_model)
k_model = self.kalman_model.process_measurement((self.model.get_temperature_intermediate(), 0), 0.0)
xp_model = self.kalman_model.process(k_model)
theta_ist_model = xp_model[0, 0]
heatrate_ist_model = xp_model[1, 0] * 60
self.theta_ist_delay_model.put(theta_ist_model)
self.dtheta_ist_delay_model.put(heatrate_ist_model)
# Process Kalman of delayed Model
k_model_delay = self.kalman_model_delay.process_measurement((self.model.get_temperature(), 0), 0.0)
xp_model_delay = self.kalman_model_delay.process(k_model_delay)
theta_ist_model_delay = xp_model_delay[0, 0]
dtheta_ist_model_delay = xp_model_delay[1, 0] * 60
# Process Kalman of Plant
Z_plant = self.kalman_plant.process_measurement((self.theta_ist_set, 0), 0.0)
@@ -97,8 +101,6 @@ class TempController(APid):
self.theta_ist = theta_ist_plant
self.heatrate_ist = heatrate_ist_plant
theta_ist_model_delay = self.theta_ist_delay_model.get()
dtheta_ist_model_delay = self.dtheta_ist_delay_model.get()
print ("Model : T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_model, heatrate_ist_model))
print ("Model*z-1: T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_model_delay, dtheta_ist_model_delay))
print ("Plant : T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_plant, heatrate_ist_plant))