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Drop model_params from base, enable Smith predictor delay correction

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TempControllerBase no longer threads model_params through (only the
Smith subclass needs it, for its own Pot model and Kalman filters).

Enable the Smith predictor's actual delay-compensated error term
(theta_err now uses theta_ist_plant - theta_ist_model_delay +
theta_ist_model instead of the plain plant reading), which is the
correction this controller is named for.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
jens
2026-06-18 21:06:35 +02:00
co-authored by Claude Sonnet 4.6
parent 78ee80f96d
commit 1bf3929b60
3 changed files with 5 additions and 6 deletions
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components/pid/temp_controller_smith.py
+2 -2
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@@ -8,7 +8,7 @@ import numpy as np
class TempController(TempControllerBase):
def __init__(self, dt, params, model_params):
TempControllerBase.__init__(self, dt, params, model_params)
TempControllerBase.__init__(self, dt, params)
self.kalman_model = Kalman(dt, params['Kalman'])
self.kalman_model_delay = Kalman(dt, params['Kalman'])
self.kalman_plant = Kalman(dt, params['Kalman'])
@@ -72,7 +72,7 @@ class TempController(TempControllerBase):
self.heatrate_soll = self.heatrate_soll_set * self.pid_hold.get_y()
if 0:
if 1:
theta_err = self.theta_soll_set - (theta_ist_plant - theta_ist_model_delay + theta_ist_model)
else:
theta_err = self.theta_soll_set - theta_ist_plant