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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
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@@ -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