- refactored

- increased Hold.Pid.kp
- decrease state change HEAT TO HOLD windows to 1°C

brewpi.py

@@ -36,8 +36,7 @@ if __name__ == '__main__':
 	taskmgr.add(heater_task)
 
 	# Temperature Controller
-	tc_params = config['TempCtrl']
+	tc = PidFactory.create(config['Controller']['pid_type'], DT, config['TempCtrl'], config['Model'])
-	tc = PidFactory.create(config['Controller']['pid_type'], DT, tc_params)
 	tc_task = TcTask(tc, DT_TASK, dispatcher.msgio_get("TempCtrl"))
 	taskmgr.add(tc_task)
 

components/pid/__init__.py

@@ -1,3 +1,5 @@
 from components.pid.pid import *
 from components.pid.kalman import *
+from components.pid.tc_constants import *
+
 from components.pid.pid_factory import PidFactory

components/pid/tc_constants.py

@@ -0,0 +1,49 @@
+
+THRESH_HOLD_IDLE = 0.1
+THRESH_HOLD_HEAT = 1.0
+THRESH_IDLE_HEAT = 1.0
+THRESH_IDLE_HOLD = 0.1
+THRESH_HEAT_HOLD = 1.0
+THRESH_HEAT_IDLE = 1.0
+
+
+class Test:
+	tc_ctrl_params = {
+		"Kalman": {
+			"var_P": 1.0,
+			"var_Q": 0.0001,
+			"var_R": 1.0
+		},
+		"Hold": {
+			"kp": 0.4,
+			"ki": 0.0,
+			"kd": 0.0,
+			"kt": 0.0
+		},
+		"Heat": {
+			"kp": 0.1,
+			"ki": 0.01,
+			"kd": 0.0,
+			"kt": 1.5
+		}
+	}
+
+	tc_model_params = {
+		"theta"		: 20,
+		"C"			: 4190,
+		"M"			: 20,
+		"L"			: 0.05,
+		"Td"		: 15,
+		"kn"		: 0.2,
+		"gain"		: 0.8
+	}
+
+	tc_pot_params = {
+		"theta"		: 20,
+		"C"			: 4190,
+		"M"			: 20,
+		"L"			: 0.05,
+		"Td"		: 15,
+		"kn"		: 0.2,
+		"gain"		: 0.8
+	}

components/pid/temp_controller.py

@@ -4,6 +4,7 @@ from components.pid import Pid, Kalman
 from components import APid
 import numpy as np
 from enum import Enum
+from components.pid.tc_constants import *
 
 
 class States(Enum):
@@ -90,13 +91,6 @@ class TempController(APid):
 		self.process_pid(theta_err, heatrate_err)
 
 	def process_fsm(self, diff):
-		THRESH_HOLD_IDLE = 0.1
-		THRESH_HOLD_HEAT = 2.0
-		THRESH_IDLE_HEAT = 1.0
-		THRESH_IDLE_HOLD = 0.1
-		THRESH_HEAT_HOLD = 2.0
-		THRESH_HEAT_IDLE = 2.0
-
 		# Process state
 		state_next = self.state
 		if self.state == States.IDLE:
@@ -139,40 +133,10 @@ class TempController(APid):
 if __name__ == '__main__':
 	dt = 1.0
 
-	tc_params = {
-		"Kalman": {
-			"var_P"	: 1.0,
-			"var_Q"	: 0.0001,
-			"var_R"	: 1.0
-		},
-		"Hold": {
-			"kp": 0.2,
-			"ki": 0.0,
-			"kd": 0.0,
-			"kt": 0.0
-		},
-		"Heat": {
-			"kp": 0.1,
-			"ki": 0.01,
-			"kd": 0.0,
-			"kt": 1.5
-		}
-	}
-
-	pot_params = {
-		"theta"		: 20,
-		"C"			: 4190,
-		"M"			: 20,
-		"L"			: 0.05,
-		"Td"		: 80,
-		"kn"		: 0.2,
-		"gain"		: 0.8
-	}
-
 	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(dt, tc_params)
+	ctrl = TempController(dt, Test.tc_ctrl_params)
-	plant = Pot(dt, pot_params)
+	plant = Pot(dt, Test.tc_pot_params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)
 	_y = np.empty(0)
@@ -198,10 +162,10 @@ if __name__ == '__main__':
 				if hold_counter == 0:
 					break
 				hold_counter -= 1
-			ctrl.process()
 			plant.process()
 			temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
 			ctrl.set_theta_ist(temp_ist)
+			ctrl.process()
 
 			y = 3500*ctrl.get_power()
 			power = max(0, y)

components/pid/temp_controller_smith.py

@@ -4,6 +4,7 @@ from components.pid import Pid, Kalman
 from components import APid
 import numpy as np
 from enum import Enum
+from components.pid.tc_constants import *
 
 
 class States(Enum):
@@ -13,7 +14,7 @@ class States(Enum):
 
 
 class TempController(APid):
-	def __init__(self, dt, params):
+	def __init__(self, dt, params, model_params):
 		APid.__init__(self)
 		self.pid_hold = Pid(dt)
 		self.pid_rate = Pid(dt)
@@ -25,6 +26,7 @@ class TempController(APid):
 		self.theta_ist = 0
 		self.heatrate_ist = 0
 		self.params = params
+		self.model_params = model_params
 		self.kalman_model = Kalman(dt, params['Kalman'])
 		self.kalman_plant = Kalman(dt, params['Kalman'])
 		self.y = -1
@@ -32,9 +34,9 @@ class TempController(APid):
 		self.use_kalman = True
 		self.pid_hold.set_params(params['Hold'])
 		self.pid_rate.set_params(params['Heat'])
-		self.model = Pot(dt, params['Model'])
+		self.model = Pot(dt, model_params)
-		self.theta_ist_delay_model = Delay(dt, params['Model']['Td'], 0)
+		self.theta_ist_delay_model = Delay(dt, model_params['Td'], 0)
-		self.dtheta_ist_delay_model = Delay(dt, params['Model']['Td'], 0)
+		self.dtheta_ist_delay_model = Delay(dt, model_params['Td'], 0)
 		self.is_startup = True
 
 	def set_theta_ist(self, value):
@@ -112,13 +114,6 @@ class TempController(APid):
 		self.process_pid(theta_err, heatrate_err)
 
 	def process_fsm(self, diff):
-		THRESH_HOLD_IDLE = 0.1
-		THRESH_HOLD_HEAT = 2.0
-		THRESH_IDLE_HEAT = 1.0
-		THRESH_IDLE_HOLD = 0.1
-		THRESH_HEAT_HOLD = 2.0
-		THRESH_HEAT_IDLE = 2.0
-
 		# Process state
 		state_next = self.state
 		if self.state == States.IDLE:
@@ -167,50 +162,10 @@ class TempController(APid):
 if __name__ == '__main__':
 	dt = 1.0
 
-	tc_params = {
-		"Model": {
-			"theta"		: 20,
-			"C"			: 4190,
-			"M"			: 20,
-			"L"			: 0.05,
-			"Td"		: 80,
-			"kn"		: 0.2,
-			"gain"		: 0.8
-		},
-		"Kalman": {
-			"var_P"	: 1.0,
-			"var_Q"	: 0.0001,
-			"var_R"	: 1.0
-		},
-		"Hold": {
-			"kp": 0.2,
-			"ki": 0.0,
-			"kd": 0.0,
-			"kt": 0.0
-		},
-		"Heat": {
-			"kp": 0.1,
-			"ki": 0.01,
-			"kd": 0.0,
-			"kt": 1.5
-		}
-	}
-
-	pot_params = {
-		"dt"		: 1.0,
-		"theta"		: 20,
-		"C"			: 4190,
-		"M"			: 20 + 4,
-		"L"			: 0.07,
-		"Td"		: 80 + 5,
-		"kn"		: 0.2,
-		"gain"		: 0.8
-	}
-
 	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(dt, tc_params)
+	ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
-	plant = Pot(dt, pot_params)
+	plant = Pot(dt, Test.tc_pot_params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)
 	_y = np.empty(0)
@@ -237,10 +192,10 @@ if __name__ == '__main__':
 				if hold_counter == 0:
 					break
 				hold_counter -= 1
-			ctrl.process()
 			plant.process()
 			temp_ist = plant.get_temperature()
 			ctrl.set_theta_ist(temp_ist)
+			ctrl.process()
 
 			y = 3500*ctrl.get_power()
 			power = max(0, y)