- improved temp controllers

components/pid/temp_controller.py

@@ -169,7 +169,7 @@ if __name__ == '__main__':
 				hold_counter -= 1
 			ctrl.process()
 			plant.process()
-			temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
+			temp_ist = plant.get_temperature_delayed() + 0.0 * np.random.randn()
 			ctrl.set_theta_ist(temp_ist)
 
 			y = 3500*ctrl.get_power()
@@ -185,7 +185,7 @@ if __name__ == '__main__':
 			_y = np.append(_y, y)
 			_fb = np.append(_fb, fb)
 			_t = np.append(_t, t)
-			_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, min(3, ctrl.heatrate_ist))
+			_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, max(-1, min(3, ctrl.heatrate_ist)))
 			_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
 			t += 1
 

components/pid/temp_controller_smith.py

@@ -5,8 +5,6 @@ import numpy as np
 from utils.value import AttributeChange
 from enum import Enum
 
-PLANT_DELAY = 35
-
 
 class States(Enum):
 	IDLE = 0,
@@ -37,8 +35,8 @@ class TempController(AttributeChange):
 		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, PLANT_DELAY)
-		self.dtheta_ist_delay_model = Delay(dt, PLANT_DELAY)
+		self.theta_ist_delay_model = Delay(dt, model_params['Td'])
+		self.dtheta_ist_delay_model = Delay(dt, model_params['Td'])
 
 	def set_theta_ist(self, value):
 		self.theta_ist_set = value
@@ -53,7 +51,7 @@ class TempController(AttributeChange):
 		self.heatrate_soll_set = value
 
 	def process(self):
-		# Process Kalman
+		# Process Kalman of Model
 		Z_model = self.kalman_model.process_measurement((self.model.get_temperature(), 0), 0.0)
 		xp_model = self.kalman_model.process(Z_model)
 		theta_ist_model = xp_model[0, 0]
@@ -61,6 +59,7 @@ class TempController(AttributeChange):
 		self.theta_ist_delay_model.put(theta_ist_model)
 		self.dtheta_ist_delay_model.put(heatrate_ist_model)
 
+		# 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]
@@ -150,7 +149,7 @@ if __name__ == '__main__':
 		"C"			: 4190,
 		"M"			: 20,
 		"L"			: 0.05,
-		"Td"		: 0,
+		"Td"		: 30,
 		"kn"		: 0.2
 	}
 
@@ -158,9 +157,9 @@ if __name__ == '__main__':
 		"dt"		: 1.0,
 		"theta"		: 20,
 		"C"			: 4190,
-		"M"			: 20,
-		"L"			: 0.05,
-		"Td"		: 0,
+		"M"			: 20 + 4,
+		"L"			: 0.07,
+		"Td"		: 30 + 5,
 		"kn"		: 0.2
 	}
 
@@ -182,8 +181,6 @@ if __name__ == '__main__':
 
 	t = 0
 
-	delay_plant = Delay(1.0, PLANT_DELAY)
-
 	for temp in temps:
 		temp_soll = temp['Temp']
 		hold_counter = temp['Duration']
@@ -198,8 +195,7 @@ if __name__ == '__main__':
 				hold_counter -= 1
 			ctrl.process()
 			plant.process()
-			delay_plant.put(plant.get_temperature())
-			temp_ist = delay_plant.get()
+			temp_ist = plant.get_temperature_delayed()
 			ctrl.set_theta_ist(temp_ist)
 
 			y = 3500*ctrl.get_power()