jens/brewpi
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

- tempcontroller: added heat rate control

Browse Source
This commit is contained in:
jens
2020-12-05 18:33:16 +01:00
parent b5cdb1a973
commit 55aa043efb
4 changed files with 107 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/pid/kalman.py
+2 -2
View File
@@ -105,7 +105,7 @@ if __name__ == '__main__':
params = {
'dt' : dt,
'var_P' : 1,
'var_Q' : 0.001,
'var_Q' : 0.0001,
'var_R' : 1
}
k = Kalman(params)
@@ -115,7 +115,7 @@ if __name__ == '__main__':
_x2 = np.empty(0)
_y2 = np.empty(0)
N = int(100/dt)
N = int(1000/dt)
seqn = range(0, N)
_seqn = range(0, 2*N)
components/pid/pid.py
-4
View File
@@ -35,10 +35,6 @@ class Pid:
yd = kd/dt*(err - self.err)
yp = kp * err
# Reset yi on error sign changes
if yp > self.y_max or yp <= self.y_min:
self.yi = 0
self.err = err
y = yp + self.yi + yd
components/pid/temp_controller.py
+95 -36
View File
@@ -1,52 +1,91 @@
from components.pid.pid import Pid
from components.pid import pid
from components.pid import kalman
from components.plant.pot import Pot
from matplotlib.pyplot import plot, figure, subplot, title, xlabel, ylabel, grid, show
from matplotlib.pyplot import plot, figure, subplot, title, xlabel, ylabel, grid, show, legend
import numpy as np
from utils.value import AttributeChange
from enum import Enum
class States(Enum):
IDLE = 0,
HEAT = 1,
HOLD = 2
class TempController(AttributeChange):
def __init__(self, params):
def __init__(self, params, params_kalman):
AttributeChange.__init__(self)
self.dt = params['dt']
self.pid_hold = Pid()
self.pid_rate = Pid()
self.pid_hold = pid.Pid()
self.pid_rate = pid.Pid()
self.theta_ist_set = 0
self.theta_soll_set = 0
self.heatrate_ist_set = 0
self.heatrate_soll_set = 2.0
self.theta_ist = 0
self.theta_soll = 0
self.heatrate_ist = 0
self.heatrate_soll = 0
self.params = params
self.y_hold = 0
self.y_heat = 0
self.kalman = kalman.Kalman(params_kalman)
self.y = 0
self.state = States.HOLD
self.use_kalman = True
self.kalman.initial((20, 0))
def set_theta_ist(self, value):
self.theta_ist = value
self.theta_ist_set = value
def set_heatrate_ist(self, value):
self.heatrate_ist = value
self.heatrate_ist_set = value
def set_theta_soll(self, value):
self.theta_soll = value
self.theta_soll_set = value
def set_heatrate_soll(self, value):
self.heatrate_soll = value
self.heatrate_soll_set = value
def process(self):
theta_err = self.theta_soll - self.theta_ist
heatrate_err = self.heatrate_soll - self.heatrate_ist
# Process Kalman
if self.use_kalman:
Z = self.kalman.process_measurement((self.theta_ist_set, 0), 0.0)
xp = self.kalman.process(Z)
self.theta_ist = xp[0, 0]
self.heatrate_ist = xp[1, 0] * 60
else:
self.theta_ist = self.theta_ist_set
self.heatrate_ist = self.heatrate_ist_set
self.pid_hold.process(self.dt, self.params['Hold']['Pid'], theta_err)
self.pid_rate.process(self.dt, self.params['Heat']['Pid'], heatrate_err)
theta_err = self.theta_soll_set - self.theta_ist
heatrate_err = self.heatrate_soll_set - self.heatrate_ist
self.y_hold = self.pid_hold.get_y()
self.y_heat = self.pid_rate.get_y()
# Process state
state_next = self.state
if self.state == States.HOLD:
if (self.theta_ist + 1.0) < self.theta_soll_set:
state_next = States.HEAT
self.pid_rate.reset()
elif self.state == States.HEAT:
if (self.theta_ist + 1.0) >= self.theta_soll_set:
state_next = States.HOLD
self.pid_hold.reset()
def get_power_hold(self):
return self.y_hold
if self.state != States.IDLE:
self.pid_hold.process(self.dt, self.params['Hold']['Pid'], theta_err)
self.pid_rate.process(self.dt, self.params['Heat']['Pid'], heatrate_err)
def get_power_heat(self):
return self.y_heat
if self.state == States.HEAT:
self.y = self.pid_rate.get_y()
else:
self.y = self.pid_hold.get_y()
if state_next != self.state:
print("New state = {}".format(state_next))
self.state = state_next
def get_power(self):
return self.y
if __name__ == '__main__':
@@ -54,16 +93,16 @@ if __name__ == '__main__':
"dt": 1.0,
"Hold": {
"Pid": {
"kp": 0.8,
"ki": 0.008,
"kp": 0.5,
"ki": 0.005,
"kd": 0.0,
"rho": 1.0
}
},
"Heat": {
"Pid": {
"kp": 0.002,
"ki": 0.0002,
"kp": 0.1,
"ki": 0.01,
"kd": 0.0,
"rho": 1.0
}
@@ -80,19 +119,28 @@ if __name__ == '__main__':
"kn" : 0.2
}
# Kalman Filter
kalman_params = {
"dt" : 1.0,
"var_P" : 1,
"var_Q" : 0.0001,
"var_R" : 1
}
temp_ist = 0
temp_soll = 20
ctrl = TempController(params)
ctrl = TempController(params, kalman_params)
plant = Pot(pot_params)
_temp_ist = np.empty(0)
_temp_soll = np.empty(0)
_y = np.empty(0)
_fb = np.empty(0)
_t = np.empty(0)
_heatrate_ist_kalman = np.empty(0)
_temp_ist_kalman = np.empty(0)
a = 0.5
fb = 0
rho = 0.02
temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}]
temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}, {'Temp': 78, 'Duration': 1000}]
t = 0
for temp in temps:
@@ -100,6 +148,7 @@ if __name__ == '__main__':
hold_counter = temp['Duration']
hold = False
ctrl.set_theta_soll(temp_soll)
ctrl.set_heatrate_soll(2.0)
while True:
if hold:
@@ -108,11 +157,13 @@ if __name__ == '__main__':
hold_counter -= 1
ctrl.process()
plant.process()
y = max(0, 3500*ctrl.get_power_hold())
plant.setPower(y)
temp_ist = round(plant.getTemperature(), 1)
fb = plant.getPower()
temp_ist = plant.getTemperature() + 0.0*np.random.randn()
ctrl.set_theta_ist(temp_ist)
y = 3500*ctrl.get_power()
power = max(0, 0+y)
plant.setPower(power)
fb = plant.getPower()
if abs(temp_ist - temp_soll) < 0.1:
hold = True
@@ -122,14 +173,22 @@ 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(3000, ctrl.heatrate_ist))
_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
t += 1
figure(1)
subplot(2, 1, 1)
subplot(3, 1, 1)
plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
legend(["ist", "soll"])
grid(True)
subplot(2, 1, 2)
plot(_t, _y, 'bx', _t, _fb, '-r', linewidth=1)
subplot(3, 1, 2)
plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
legend(["y", "pot"])
grid(True)
subplot(3, 1, 3)
plot(_t, _heatrate_ist_kalman, '-b', linewidth=1)
legend(["heatrate"])
grid(True)
show()