- fixed water model

brewpi.py

@@ -30,10 +30,10 @@ class TempSensorTask(ATask):
 
 	def on_temp_changed(self, value):
 		print("Sensor temp {}".format(value))
+		asyncio.create_task(self.send({'Temp': value}))
 
 	def on_temp_changed_kalman(self, value):
 		print("Kalman temp {}".format(value))
-		asyncio.create_task(self.send({'Temp': value}))
 
 	async def recv(self, data):
 		print(data)
@@ -87,7 +87,7 @@ class HeaterTask(ATask):
 
 		power = Value()
 		while True:
-			self.power_soll = 200 + self.heater.get_power_max()*self.y
+			self.power_soll = max(0, 200 + self.heater.get_power_max()*self.y)
 			self.heater.setPower(self.power_soll)
 			self.heater.process()
 			power.set(round(self.heater.getPower()))
@@ -151,7 +151,7 @@ class TcTask(ATask):
 
 	async def on_process(self):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
-		self.tc.set_theta_soll(20)
+		self.tc.set_theta_soll(30)
 		while True:
 			self.tc.process()
 			await asyncio.sleep(self.interval)
@@ -203,14 +203,14 @@ if __name__ == '__main__':
 		# Plant
 		pot_params = {
 			"dt"			: 1.0,
-			"theta_amb"		: 15,
+			"theta"			: 20,
 			"C"				: 4190,
-			"M"				: 20,
+			"M"				: 10,
 			"L"				: 0.1,
 			"Td"			: 12,
 			"kn"			: 0.2
 		}
-		pot = Pot(pot_params)
+		pot = Pot(pot_params, 20)
 		pot.set_on_changed("temp", ValueChanged(sensor.set_fake_temp, prec=1).set)
 		taskmgr.add(PotTask(pot, 1.0, dispatcher.msgio_get("Pot")))
 
@@ -225,9 +225,9 @@ if __name__ == '__main__':
 			"dt": 1.0,
 			"Hold": {
 				"Pid": {
-					"kp": 0.5,
+					"kp": 0.4,
 					"ki": 0.0,
-					"kd": 0.5,
+					"kd": 0.0,
 					"rho": 1.0
 				}
 			},

components/atemperatureSensor.py

@@ -7,10 +7,6 @@ class ATemperatureSensor(AttributeChange):
 	def __init__(self):
 		AttributeChange.__init__(self)
 
-	def log(self, s):
-		d = {'user': "TemperatureSensor" + "::" + self.name()}
-		logging.info("{}".format(s), extra=d)
-
 	@abc.abstractmethod
 	def name(self):
 		return ""

components/pid/temp_controller.py

@@ -74,11 +74,13 @@ if __name__ == '__main__':
 	ctrl = TempController(params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)
+	_y = np.empty(0)
+	_fb = np.empty(0)
 	_t = np.empty(0)
 	a = 0.5
 	fb = 0
-	rho = 0.001
+	rho = 0.02
-	temps = [{'Temp': 20, 'Duration': 100}, {'Temp': 40, 'Duration': 100}, {'Temp': 30, 'Duration': 100}]
+	temps = [{'Temp': 20, 'Duration': 100}, {'Temp': 40, 'Duration': 100}, {'Temp': 35, 'Duration': 100}]
 
 	t = 0
 	for temp in temps:
@@ -93,7 +95,7 @@ if __name__ == '__main__':
 					break
 				hold_counter -= 1
 			ctrl.process()
-			y = ctrl.get_power_hold()
+			y = max(0, ctrl.get_power_hold())
 			fb = (1-a)*fb + a*round(y, 2)
 			temp_ist += fb
 			ctrl.set_theta_ist(temp_ist)
@@ -103,12 +105,18 @@ if __name__ == '__main__':
 			temp_ist -= rho
 			_temp_ist = np.append(_temp_ist, temp_ist)
 			_temp_soll = np.append(_temp_soll, temp_soll)
+			_y = np.append(_y, y)
+			_fb = np.append(_fb, fb)
 			_t = np.append(_t, t)
 			t += 1
 
 	figure(1)
+	subplot(2, 1, 1)
 	plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
 	grid(True)
+	subplot(2, 1, 2)
+	plot(_t, _y, 'bx', _t, _fb, '-r', linewidth=1)
+	grid(True)
 	show()
 
 	print("End of program")

components/plant/pot.py

@@ -3,7 +3,7 @@ from components.aplant import APlant
 
 
 class Pot(APlant):
-	def __init__(self, params):
+	def __init__(self, params, theta_amb=20):
 		APlant.__init__(self)
 		self.dt = params['dt']
 		self.alpha = 1.0
@@ -17,10 +17,9 @@ class Pot(APlant):
 		self.L = params['L']
 		self.Td = params['Td']
 		self.kn = params['kn']
-		self.theta_amb = params['theta_amb']
+		self.temp = params['theta']
 
-		self.theta = 0
+		self.theta_amb = theta_amb
-		self.temp = self.theta_amb
 		self.alpha = self.dt / 1
 		self.alpha_delay = self.dt/self.Td
 
@@ -34,12 +33,8 @@ class Pot(APlant):
 		# Delay
 		self.power_actual = (1-self.alpha_delay) * self.power_actual + self.alpha_delay * self.power_set
 
-		self.e = self.e * (1 - ((self.L * self.theta) * self.dt) / (self.M * self.C))
+		leak = 1/self.M * self.L * (self.theta_amb - self.temp)/self.theta_amb
-		self.x = (1 - self.alpha) * self.x + self.gain * self.alpha * self.power_actual
+		self.temp += (self.power_actual / (self.M * self.C) + leak) * self.dt
-		self.e += self.x
-		self.theta = self.e / (self.M * self.C)
-
-		self.temp = self.getTemperature()
 
 	def setPower(self, power):
 		self.power_set = power
@@ -48,4 +43,5 @@ class Pot(APlant):
 		return round(self.power_actual, 1)
 
 	def getTemperature(self):
-		return round(self.theta + self.theta_amb + self.kn * np.random.normal(0, 1) / np.sqrt(12.0), 1)
+		#return round(self.theta + self.theta_amb + self.kn * np.random.normal(0, 1) / np.sqrt(12.0), 1)
+		return self.temp

components/sensor/tempSensorSim.py

@@ -1,5 +1,5 @@
 from components.atemperatureSensor import ATemperatureSensor
-import math
+import numpy as np
 
 
 class TempSensorSim(ATemperatureSensor):
@@ -8,18 +8,15 @@ class TempSensorSim(ATemperatureSensor):
 
 	def __init__(self):
 		ATemperatureSensor.__init__(self)
-		self.count = 0
-		self.freq = 0.2
-		self.log("Created")
 		self.temp = 22.37
 		self.temp_set = self.temp
+		self.k_noise = 0.01
 
 	def set_fake_temp(self, temp):
 		self.temp_set = temp
 
 	def temperature(self):
-		self.count += 1
+		return self.temp_set + self.k_noise * np.random.normal(0, 1) / np.sqrt(12.0)
-		return self.temp_set + 0.1*math.sin(2*math.pi*self.count*self.freq)
 
 	def process(self):
 		temp = self.temperature()

utils/value.py

@@ -45,9 +45,8 @@ class AttributeChange(object):
 	def __setattr__(self, key, value):
 		try:
 			old = super().__getattribute__(key)
-			print("Change: {} from {} to {}".format(key, old, value))
 		except:
-			print("Create: {} and initialize with  {}".format(key, value))
+			pass
 		super().__setattr__(key, value)
 
 		if key in self.callbacks: