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- refactored params

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jens
2020-12-21 12:24:42 +01:00
parent 262f1ef663
commit 5865923854
1 changed files with 8 additions and 8 deletions
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components/pid/temp_controller.py
+8 -8
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@@ -16,8 +16,8 @@ class TempController(AttributeChange):
def __init__(self, params): def __init__(self, params):
AttributeChange.__init__(self) AttributeChange.__init__(self)
dt = params['dt'] dt = params['dt']
self.pid_hold = Pid(params['Hold']) self.pid_hold = Pid(dt)
self.pid_rate = Pid(params['Heat']) self.pid_rate = Pid(dt)
self.theta_ist_set = 20 self.theta_ist_set = 20
self.theta_soll_set = 0 self.theta_soll_set = 0
self.heatrate_ist_set = 0 self.heatrate_ist_set = 0
@@ -26,11 +26,13 @@ class TempController(AttributeChange):
self.theta_ist = 0 self.theta_ist = 0
self.heatrate_ist = 0 self.heatrate_ist = 0
self.params = params self.params = params
self.kalman = Kalman(params['Kalman']) self.kalman = Kalman(dt, params['Kalman'])
self.y = -1 self.y = -1
self.state = States.IDLE self.state = States.IDLE
self.use_kalman = True self.use_kalman = True
self.kalman.initial((self.theta_ist_set, 0)) self.kalman.initial((self.theta_ist_set, 0))
self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat'])
def set_theta_ist(self, value): def set_theta_ist(self, value):
self.theta_ist_set = value self.theta_ist_set = value
@@ -109,7 +111,6 @@ if __name__ == '__main__':
tc_params = { tc_params = {
"dt": 1.0, "dt": 1.0,
"Kalman": { "Kalman": {
"dt": 1.0,
"var_P" : 1.0, "var_P" : 1.0,
"var_Q" : 0.0001, "var_Q" : 0.0001,
"var_R" : 1.0 "var_R" : 1.0
@@ -122,10 +123,9 @@ if __name__ == '__main__':
"kt": 0.0 "kt": 0.0
}, },
"Heat": { "Heat": {
"dt": 1.0, "kp": 0.05,
"kp": 0.2, "ki": 0.005,
"ki": 0.01, "kd": 1.0,
"kd": 2.0,
"kt": 1.5 "kt": 1.5
} }
} }