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- refactored

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jens
2021-10-09 09:46:52 +02:00
parent 529ae7ad2f
commit 5923212055
5 changed files with 65 additions and 47 deletions
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components/pid/temp_controller.py
+29 -20
View File
@@ -29,12 +29,15 @@ class TempController(APid):
self.y = -1
self.state = States.IDLE
self.use_kalman = True
self.kalman.initial((self.theta_ist_set, 0))
self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat'])
self.is_startup = True
def set_theta_ist(self, value):
self.theta_ist_set = value
if self.is_startup:
self.is_startup = False
self.kalman.initial((value, 0))
def get_theta_ist(self):
return self.theta_ist
@@ -82,44 +85,50 @@ class TempController(APid):
theta_err = self.theta_soll_set - self.theta_ist
heatrate_err = self.heatrate_soll - self.heatrate_ist
diff = self.theta_soll_set - self.theta_ist
self.process_fsm(diff)
self.process_pid(theta_err, heatrate_err)
def process_fsm(self, diff):
THRESH_HOLD_IDLE = 0.1
THRESH_HOLD_HEAT = 2.0
THRESH_IDLE_HEAT = 1.0
THRESH_IDLE_HOLD = 0.1
THRESH_HEAT_HOLD = 2.0
THRESH_HEAT_IDLE = 2.0
# Process state
state_next = self.state
diff = self.theta_soll_set - self.theta_ist
THRESH_HEAT = 1.0
THRESH_IDLE = 1.0
THRESH_IDLE_HOLD = 0.1
THRESH_HEAT_HOLD = 1.0
if self.state == States.IDLE:
if diff > THRESH_HEAT:
self.pid_rate.reset()
if diff > THRESH_IDLE_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff > -THRESH_IDLE_HOLD:
state_next = States.HOLD
self.pid_rate.reset()
elif self.state == States.HOLD:
if diff > THRESH_HEAT:
self.pid_rate.reset()
if diff > THRESH_HOLD_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff < -THRESH_IDLE_HOLD:
elif diff < -THRESH_HOLD_IDLE:
state_next = States.IDLE
elif self.state == States.HEAT:
if diff < -THRESH_IDLE:
if diff < -THRESH_HEAT_IDLE:
state_next = States.IDLE
elif diff < THRESH_HEAT_HOLD:
state_next = States.HOLD
self.pid_hold.reset()
self.pid_hold.process(theta_err, -self.theta_ist)
self.pid_rate.process(heatrate_err, -self.heatrate_ist)
self.y = self.pid_rate.get_y()
self.pid_rate.reset()
if state_next != self.state:
self.state = state_next
print("New state = {}".format(state_next))
def process_pid(self, theta_err, heatrate_err):
self.pid_hold.process(theta_err, -self.theta_ist)
self.pid_rate.process(heatrate_err, -self.heatrate_ist)
self.y = self.pid_rate.get_y()
def get_power(self):
return self.y
components/pid/temp_controller_smith.py
+31 -22
View File
@@ -30,16 +30,19 @@ class TempController(APid):
self.y = -1
self.state = States.IDLE
self.use_kalman = True
self.kalman_model.initial((self.theta_ist_set, 0))
self.kalman_plant.initial((self.theta_ist_set, 0))
self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat'])
self.model = Pot(dt, params['Model'])
self.theta_ist_delay_model = Delay(dt, params['Model']['Td'])
self.dtheta_ist_delay_model = Delay(dt, params['Model']['Td'])
self.theta_ist_delay_model = Delay(dt, params['Model']['Td'], 0)
self.dtheta_ist_delay_model = Delay(dt, params['Model']['Td'], 0)
self.is_startup = True
def set_theta_ist(self, value):
self.theta_ist_set = value
if self.is_startup:
self.is_startup = False
self.kalman_model.initial((value, 0))
self.kalman_plant.initial((value, 0))
def get_theta_ist(self):
return self.theta_ist
@@ -98,36 +101,46 @@ class TempController(APid):
theta_err = self.theta_soll_set - theta_ist_plant
heatrate_err = self.heatrate_soll - (heatrate_ist_plant - self.dtheta_ist_delay_model.get() + heatrate_ist_model)
diff = self.theta_soll_set - self.theta_ist
self.process_fsm(diff)
self.process_pid(theta_err, heatrate_err)
def process_fsm(self, diff):
THRESH_HOLD_IDLE = 0.1
THRESH_HOLD_HEAT = 2.0
THRESH_IDLE_HEAT = 1.0
THRESH_IDLE_HOLD = 0.1
THRESH_HEAT_HOLD = 2.0
THRESH_HEAT_IDLE = 2.0
# Process state
state_next = self.state
diff = self.theta_soll_set - self.theta_ist
THRESH_HEAT = 1.0
THRESH_IDLE = 1.0
THRESH_IDLE_HOLD = 0.1
THRESH_HEAT_HOLD = 2.0
if self.state == States.IDLE:
if diff > THRESH_HEAT:
self.pid_rate.reset()
if diff > THRESH_IDLE_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff > -THRESH_IDLE_HOLD:
state_next = States.HOLD
self.pid_rate.reset()
elif self.state == States.HOLD:
if diff > THRESH_HEAT:
self.pid_rate.reset()
if diff > THRESH_HOLD_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff < -THRESH_IDLE_HOLD:
elif diff < -THRESH_HOLD_IDLE:
state_next = States.IDLE
elif self.state == States.HEAT:
if diff < -THRESH_IDLE:
if diff < -THRESH_HEAT_IDLE:
state_next = States.IDLE
elif diff < THRESH_HEAT_HOLD:
state_next = States.HOLD
self.pid_hold.reset()
self.pid_rate.reset()
if state_next != self.state:
self.state = state_next
print("New state = {}".format(state_next))
def process_pid(self, theta_err, heatrate_err):
self.pid_hold.process(theta_err, -self.theta_ist)
self.pid_rate.process(heatrate_err, -self.heatrate_ist)
@@ -135,10 +148,6 @@ class TempController(APid):
self.model.set_power(max(0, 250 + 3500 * self.y))
self.model.process()
if state_next != self.state:
self.state = state_next
print("New state = {}".format(state_next))
def get_power(self):
return self.y
components/plant/delay.py
+2 -2
View File
@@ -2,9 +2,9 @@ import numpy as np
class Delay:
def __init__(self, dt, delay):
def __init__(self, dt, delay, ic):
nd = int(delay/dt + 0.5)
self.delay_line = np.zeros(nd+1)
self.delay_line = np.ones(nd+1)*ic
self.ri = 0
self.wi = 0
components/plant/pot.py
+2 -2
View File
@@ -16,13 +16,13 @@ class Pot(APlant):
self.L = params['L']
self.Td = params['Td']
self.kn = params['kn']
self.temp = params['theta']
self.temp = 0
self.temp_intermediate = params['theta']
self.theta_amb = theta_amb
self.power_set = 0
self.delay = Delay(self.dt, self.Td)
self.delay = Delay(self.dt, self.Td, params['theta'])
def activate(self, enable):
pass