Make grain_mass/water_mass per-step and re-derive plant params on change
grain_mass and water_mass now live on each step (defaulted from default.step) instead of being fixed for the whole brew, since both change over a mash (malt going in, water boiling off). Sud.derive_plant_params() takes them as arguments so it can be recomputed per step; the demo re-applies the resulting M/C to both the real plant and the controller's Smith-predictor model on every step change via the new Pot.set_thermal_params()/ TempController.set_model_params(). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01CgR9tPaSzFkAwRAUyeaaCD
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Claude Sonnet 4.6
@@ -129,10 +129,7 @@ environment (`$WORKON_HOME`/`$BREWPI_HOME`) on a Raspberry Pi-style deployment.
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## Mash schedules
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Files under `sude/` describe a brew's mash schedule ("Sud"): `pot_mass`,
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`pot_material`, `grain_mass`, `water_mass` (used by `Sud.derive_plant_params()`
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to compute a lumped thermal mass/specific-heat pair for `Pot`'s `M`/`C`, e.g.
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in `scripts/demos/sud/demo_sud.py`, instead of hand-tuning them), and a
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`steps` list, each either:
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`pot_material` (fixed for the whole brew), and a `steps` list, each either:
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- a ramp — `"ramp": {"rate": ..., "temp": ...}` — ramp to `temp` at `rate`
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(°C/min), or
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@@ -147,6 +144,16 @@ Both `ramp` and `hold` carry a `stirrer` block (`speed`, `interval_time`,
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the user with) to pause for confirmation once the step completes, e.g. to
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add malt or check gravity, instead of advancing immediately.
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Each step also has its own `grain_mass`/`water_mass` (defaulted like
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everything else from `default.step`), since both change over the course of
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a brew — e.g. malt going in partway through, or water boiling off. Pass a
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step's `grain_mass`/`water_mass` to `Sud.derive_plant_params()` (together
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with the brew-wide `pot_mass`/`pot_material`) to get that step's lumped
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`Pot` `M`/`C`; `scripts/demos/sud/demo_sud.py` recomputes and re-applies
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these (via `Pot.set_thermal_params()`/`TempController.set_model_params()`,
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on both the real plant and the controller's Smith-predictor model) every
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time the current step changes, instead of deriving them once at startup.
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The top-level `default.step` object gives every field above (including the
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nested `ramp`/`hold`/`stirrer` blocks) a default value; a step in `steps`
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only needs to specify the fields it overrides — anything it omits is filled
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@@ -24,6 +24,10 @@ class TempController(TempControllerBase):
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self.model.set_power(power)
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self.model_delay.set_power(power)
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def set_model_params(self, M, C):
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self.model.set_thermal_params(M, C)
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self.model_delay.set_thermal_params(M, C)
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def on_state_entered(self, state):
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if state == States.HEAT:
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self.model.initial(self.theta_ist)
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@@ -56,6 +56,10 @@ class Pot(APlant):
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def set_ambient_temperature(self, theta_amb):
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self.theta_amb = theta_amb
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def set_thermal_params(self, M, C):
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self.M = M
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self.C = C
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def set_power(self, power):
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self.p_in = power
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+10
-9
@@ -37,7 +37,7 @@ def _build_step(number, defaults, raw_step):
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ramp or a hold depending on which of those keys it specifies; the other
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is left out rather than synthesized from defaults."""
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step = {'number': number}
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for key in ('descr', 'user_message', 'user_wait_for_continue'):
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for key in ('descr', 'user_message', 'user_wait_for_continue', 'grain_mass', 'water_mass'):
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step[key] = raw_step.get(key, defaults.get(key))
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for key in ('ramp', 'hold'):
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if key in raw_step:
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@@ -59,8 +59,6 @@ class Sud(AttributeChange):
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self.pot_mass = data.get('pot_mass', 0)
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self.pot_material = data.get('pot_material')
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self.grain_mass = data.get('grain_mass', 0)
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self.water_mass = data.get('water_mass', 0)
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self.index = -1
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self.hold_remaining = 0.0
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@@ -68,13 +66,16 @@ class Sud(AttributeChange):
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self.step = None
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self.user_message = None
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def derive_plant_params(self):
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"""Lumped (mass, specific heat) lifted from pot_mass/pot_material/
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grain_mass/water_mass, for use as Pot's "M"/"C" params."""
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def derive_plant_params(self, grain_mass, water_mass):
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"""Lumped (mass, specific heat) lifted from pot_mass/pot_material and
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the current step's grain_mass/water_mass, for use as Pot's "M"/"C"
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params. grain_mass/water_mass vary per step (e.g. malt going in,
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water boiling off), so this is recomputed on every step change
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rather than once at startup."""
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c_pot = SPECIFIC_HEAT_BY_MATERIAL.get(self.pot_material, SPECIFIC_HEAT_WATER)
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mass = self.water_mass + self.grain_mass + self.pot_mass
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capacitance = (self.water_mass * SPECIFIC_HEAT_WATER
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+ self.grain_mass * SPECIFIC_HEAT_GRAIN
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mass = water_mass + grain_mass + self.pot_mass
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capacitance = (water_mass * SPECIFIC_HEAT_WATER
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+ grain_mass * SPECIFIC_HEAT_GRAIN
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+ self.pot_mass * c_pot)
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return {
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@@ -35,8 +35,9 @@ if __name__ == '__main__':
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sud = Sud("sude/sud_0010.json")
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first_step = sud.schedule[0]
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plant_params = {
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**sud.derive_plant_params(),
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**sud.derive_plant_params(first_step['grain_mass'], first_step['water_mass']),
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"L" : 0.2,
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"Td" : 60
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}
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@@ -65,9 +66,15 @@ if __name__ == '__main__':
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stirrer.set_duty_cycle(1.0 if speed > 0 else 0.0)
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stirrer.set_speed(speed)
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def apply_plant_params(step):
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params = sud.derive_plant_params(step['grain_mass'], step['water_mass'])
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plant.set_thermal_params(params['M'], params['C'])
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ctrl.set_model_params(params['M'], params['C'])
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def on_step_changed(step):
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if step is not None:
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print(f"Step {step['number']}: {step['descr']}")
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apply_plant_params(step)
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if 'ramp' in step:
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ctrl.set_theta_soll(step['ramp']['temp'])
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ctrl.set_heatrate_soll(step['ramp']['rate'])
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+4
-2
@@ -3,14 +3,14 @@
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"Description" : "Rotfraenkisch, Dunkles Lager",
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"pot_mass" : 5.960,
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"pot_material" : "Edelstahl 18/10",
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"grain_mass" : 5.21,
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"water_mass" : 22,
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"default":
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{
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"step" : {
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"descr": "Put description here",
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"user_message": "Put user message here",
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"user_wait_for_continue": false,
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"grain_mass" : 5.21,
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"water_mass" : 22,
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"ramp": {
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"rate": 1.0,
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"temp": 0,
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@@ -33,6 +33,7 @@
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"steps":
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[
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{
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"grain_mass" : 0,
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"descr": "Heizen für Einmaischen",
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"ramp": {
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"rate": 1.8,
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@@ -101,6 +102,7 @@
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}
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},
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{
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"water_mass" : 21,
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"descr": "Halten Abmaischen",
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"user_message": "Quittieren zum Abmaischen",
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"user_wait_for_continue": true,
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