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- improved temp controllers

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jens
2020-12-22 10:45:51 +01:00
parent fd4d0b3e64
commit 4c93e85dd8
2 changed files with 11 additions and 15 deletions
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components/pid/temp_controller.py
+2 -2
View File
@@ -169,7 +169,7 @@ if __name__ == '__main__':
hold_counter -= 1 hold_counter -= 1
ctrl.process() ctrl.process()
plant.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) ctrl.set_theta_ist(temp_ist)
y = 3500*ctrl.get_power() y = 3500*ctrl.get_power()
@@ -185,7 +185,7 @@ if __name__ == '__main__':
_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, 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) _temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
t += 1 t += 1
components/pid/temp_controller_smith.py
+9 -13
View File
@@ -5,8 +5,6 @@ import numpy as np
from utils.value import AttributeChange from utils.value import AttributeChange
from enum import Enum from enum import Enum
PLANT_DELAY = 35
class States(Enum): class States(Enum):
IDLE = 0, IDLE = 0,
@@ -37,8 +35,8 @@ class TempController(AttributeChange):
self.pid_hold.set_params(params['Hold']) self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat']) self.pid_rate.set_params(params['Heat'])
self.model = Pot(dt, model_params) self.model = Pot(dt, model_params)
self.theta_ist_delay_model = Delay(dt, PLANT_DELAY) self.theta_ist_delay_model = Delay(dt, model_params['Td'])
self.dtheta_ist_delay_model = Delay(dt, PLANT_DELAY) self.dtheta_ist_delay_model = Delay(dt, model_params['Td'])
def set_theta_ist(self, value): def set_theta_ist(self, value):
self.theta_ist_set = value self.theta_ist_set = value
@@ -53,7 +51,7 @@ class TempController(AttributeChange):
self.heatrate_soll_set = value self.heatrate_soll_set = value
def process(self): def process(self):
# Process Kalman # Process Kalman of Model
Z_model = self.kalman_model.process_measurement((self.model.get_temperature(), 0), 0.0) Z_model = self.kalman_model.process_measurement((self.model.get_temperature(), 0), 0.0)
xp_model = self.kalman_model.process(Z_model) xp_model = self.kalman_model.process(Z_model)
theta_ist_model = xp_model[0, 0] theta_ist_model = xp_model[0, 0]
@@ -61,6 +59,7 @@ class TempController(AttributeChange):
self.theta_ist_delay_model.put(theta_ist_model) self.theta_ist_delay_model.put(theta_ist_model)
self.dtheta_ist_delay_model.put(heatrate_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) Z_plant = self.kalman_plant.process_measurement((self.theta_ist_set, 0), 0.0)
xp_plant = self.kalman_plant.process(Z_plant) xp_plant = self.kalman_plant.process(Z_plant)
theta_ist_plant = xp_plant[0, 0] theta_ist_plant = xp_plant[0, 0]
@@ -150,7 +149,7 @@ if __name__ == '__main__':
"C" : 4190, "C" : 4190,
"M" : 20, "M" : 20,
"L" : 0.05, "L" : 0.05,
"Td" : 0, "Td" : 30,
"kn" : 0.2 "kn" : 0.2
} }
@@ -158,9 +157,9 @@ if __name__ == '__main__':
"dt" : 1.0, "dt" : 1.0,
"theta" : 20, "theta" : 20,
"C" : 4190, "C" : 4190,
"M" : 20, "M" : 20 + 4,
"L" : 0.05, "L" : 0.07,
"Td" : 0, "Td" : 30 + 5,
"kn" : 0.2 "kn" : 0.2
} }
@@ -182,8 +181,6 @@ if __name__ == '__main__':
t = 0 t = 0
delay_plant = Delay(1.0, PLANT_DELAY)
for temp in temps: for temp in temps:
temp_soll = temp['Temp'] temp_soll = temp['Temp']
hold_counter = temp['Duration'] hold_counter = temp['Duration']
@@ -198,8 +195,7 @@ if __name__ == '__main__':
hold_counter -= 1 hold_counter -= 1
ctrl.process() ctrl.process()
plant.process() plant.process()
delay_plant.put(plant.get_temperature()) temp_ist = plant.get_temperature_delayed()
temp_ist = delay_plant.get()
ctrl.set_theta_ist(temp_ist) ctrl.set_theta_ist(temp_ist)
y = 3500*ctrl.get_power() y = 3500*ctrl.get_power()