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- TC export some vars

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- cleaned up test
- added model vars to test
This commit is contained in:
jens
2021-10-13 18:29:33 +02:00
parent 862babcb50
commit 4a26e84c6e
2 changed files with 40 additions and 22 deletions
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components/pid/tc_constants.py
+3 -3
View File
@@ -41,8 +41,8 @@ class Test:
"theta" : 20, "theta" : 20,
"C" : 4190, "C" : 4190,
"M" : 20, "M" : 20,
"L" : 0.05, "L" : 0.01,
"Td" : 15, "Td" : 30,
"kn" : 0.2, "kn" : 0.2,
"gain" : 1.0 "gain" : 1.0
} }
@@ -52,7 +52,7 @@ class Test:
"C" : 4190, "C" : 4190,
"M" : 20, "M" : 20,
"L" : 0.01, "L" : 0.01,
"Td" : 15, "Td" : 30,
"kn" : 0.2, "kn" : 0.2,
"gain" : 1.0 "gain" : 1.0
} }
components/pid/temp_controller_smith.py
+37 -19
View File
@@ -67,6 +67,12 @@ class TempController(APid):
return self.heatrate_soll_set return self.heatrate_soll_set
def process(self): def process(self):
# Process Kalman of Plant
Z_plant = self.kalman_plant.process_measurement((self.theta_ist_set, 0), 0.0)
xp_plant = self.kalman_plant.process(Z_plant)
theta_ist_plant = xp_plant[0, 0]
heatrate_ist_plant = xp_plant[1, 0] * 60
# Process Kalman of Model # Process Kalman of Model
k_model = self.kalman_model.process_measurement((self.model.get_temperature_intermediate(), 0), 0.0) k_model = self.kalman_model.process_measurement((self.model.get_temperature_intermediate(), 0), 0.0)
xp_model = self.kalman_model.process(k_model) xp_model = self.kalman_model.process(k_model)
@@ -79,11 +85,14 @@ class TempController(APid):
theta_ist_model_delay = xp_model_delay[0, 0] theta_ist_model_delay = xp_model_delay[0, 0]
dtheta_ist_model_delay = xp_model_delay[1, 0] * 60 dtheta_ist_model_delay = xp_model_delay[1, 0] * 60
# Process Kalman of Plant self.theta_ist_plant = theta_ist_plant
Z_plant = self.kalman_plant.process_measurement((self.theta_ist_set, 0), 0.0) self.dtheta_ist_plant = heatrate_ist_plant
xp_plant = self.kalman_plant.process(Z_plant) self.theta_ist_model = theta_ist_model
theta_ist_plant = xp_plant[0, 0] self.dtheta_ist_model = heatrate_ist_model
heatrate_ist_plant = xp_plant[1, 0] * 60 self.theta_ist_model_delay = theta_ist_model_delay
self.dtheta_ist_model_delay = dtheta_ist_model_delay
self.theta_ist = theta_ist_plant
self.heatrate_ist = heatrate_ist_plant
# Compensate for max heat rate to reduce overshoot # Compensate for max heat rate to reduce overshoot
if self.heatrate_soll_set > 0: if self.heatrate_soll_set > 0:
@@ -91,9 +100,6 @@ class TempController(APid):
self.heatrate_soll = self.heatrate_soll_set * self.pid_hold.get_y() self.heatrate_soll = self.heatrate_soll_set * self.pid_hold.get_y()
self.theta_ist = theta_ist_plant
self.heatrate_ist = heatrate_ist_plant
print ("Model : T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_model, heatrate_ist_model)) 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 ("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)) print ("Plant : T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_plant, heatrate_ist_plant))
@@ -161,17 +167,19 @@ class TempController(APid):
if __name__ == '__main__': if __name__ == '__main__':
dt = 1.0 dt = 1.0
temp_ist = 0
temp_soll = 20 temp_soll = 20
ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params) ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
plant = Pot(dt, Test.tc_pot_params) plant = Pot(dt, Test.tc_pot_params)
_temp_ist = np.empty(0)
_temp_soll = np.empty(0)
_y = np.empty(0) _y = np.empty(0)
_fb = np.empty(0) _fb = np.empty(0)
_t = np.empty(0) _t = np.empty(0)
_heatrate_ist_kalman = np.empty(0) _temp_soll = np.empty(0)
_temp_ist_kalman = np.empty(0) _temp_ist_kalman = np.empty(0)
_heatrate_ist_kalman = np.empty(0)
_temp_ist_kalman_plant = np.empty(0)
_heatrate_ist_kalman_plant = np.empty(0)
_temp_ist_kalman_model = np.empty(0)
_heatrate_ist_kalman_model = np.empty(0)
a = 0.5 a = 0.5
fb = 0 fb = 0
rho = 0.02 rho = 0.02
@@ -203,19 +211,19 @@ if __name__ == '__main__':
if abs(temp_ist - temp_soll) < 0.1: if abs(temp_ist - temp_soll) < 0.1:
hold = True hold = True
temp_ist -= rho
_temp_ist = np.append(_temp_ist, temp_ist)
_temp_soll = np.append(_temp_soll, temp_soll)
_y = np.append(_y, y) _y = np.append(_y, y)
_fb = np.append(_fb, fb) _fb = np.append(_fb, fb)
_t = np.append(_t, t) _t = np.append(_t, t)
_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, max(-1, min(3, ctrl.heatrate_ist))) _temp_soll = np.append(_temp_soll, temp_soll)
_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist_set) _temp_ist_kalman_plant = np.append(_temp_ist_kalman_plant, ctrl.theta_ist_plant)
_heatrate_ist_kalman_plant = np.append(_heatrate_ist_kalman_plant, max(-1, min(3, ctrl.dtheta_ist_plant)))
_temp_ist_kalman_model = np.append(_temp_ist_kalman_model, ctrl.theta_ist_model_delay)
_heatrate_ist_kalman_model = np.append(_heatrate_ist_kalman_model, max(-1, min(3, ctrl.dtheta_ist_model_delay)))
t += 1 t += 1
figure(1) figure(1)
subplot(3, 1, 1) subplot(3, 1, 1)
plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1) plot(_t, _temp_ist_kalman_plant, _t, _temp_soll, 'r-', linewidth=1)
legend(["ist", "soll"]) legend(["ist", "soll"])
grid(True) grid(True)
subplot(3, 1, 2) subplot(3, 1, 2)
@@ -223,9 +231,19 @@ if __name__ == '__main__':
legend(["y", "pot"]) legend(["y", "pot"])
grid(True) grid(True)
subplot(3, 1, 3) subplot(3, 1, 3)
plot(_t, _heatrate_ist_kalman, '-b', linewidth=1) plot(_t, _heatrate_ist_kalman_plant, '-b', linewidth=1)
legend(["heatrate"]) legend(["heatrate"])
grid(True) grid(True)
figure(2)
subplot(2, 1, 1)
plot(_t, _temp_ist_kalman_plant, '-b', _t, _temp_ist_kalman_model, 'r-', linewidth=1)
legend(["plant", "model"])
grid(True)
subplot(2, 1, 2)
plot(_t, _heatrate_ist_kalman_plant, '-b', _t, _heatrate_ist_kalman_model, '-r', linewidth=1)
legend(["plant", "model"])
grid(True)
show() show()
print("End of program") print("End of program")