[Pot]

- remove HeatDiffusion
- use delay line for heat propagation modeling

[Temp Controller]
- remove Kalman

components/pid/temp_controller.py

@@ -1,25 +1,18 @@
-from components.pid import Kalman
 from components.pid.temp_controller_base import TempControllerBase
 
 
 class TempController(TempControllerBase):
 	def __init__(self, dt, params):
 		TempControllerBase.__init__(self, dt, params)
-		self.kalman = Kalman(dt, params['Kalman'])
-
-	def init_kalman(self, value):
-		self.kalman.initial((value, 0))
-
+		self.dt = dt
+		self.last_theta_ist = 20
+		self.heatrate_ist = 0
 	def process(self):
 		# 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.theta_ist = self.theta_ist_set
+		heatrate = (self.theta_ist - self.last_theta_ist)/self.dt*60
+		self.heatrate_ist = heatrate
+		self.last_theta_ist = self.theta_ist
 
 		# Compensate for max heat rate to reduce overshoot
 		if self.heatrate_soll_set > 0:

components/pid/temp_controller_base.py

@@ -19,14 +19,10 @@ class TempControllerBase(APid):
 		self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
 		self.y = -1
 		self.state = States.INIT
-		self.use_kalman = True
 		self.pid_hold.set_params(params['Hold'])
 		self.pid_rate.set_params(params['Heat'])
 		self.is_startup = True
 
-	def init_kalman(self, value):
-		raise NotImplementedError
-
 	def on_state_entered(self, state):
 		pass
 
@@ -37,7 +33,6 @@ class TempControllerBase(APid):
 		self.theta_ist_set = value
 		if self.is_startup:
 			self.is_startup = False
-			self.init_kalman(value)
 
 	def get_theta_ist(self):
 		return self.theta_ist

components/plant/pot.py

@@ -1,6 +1,6 @@
 from components.aplant import APlant
 from components.plant.heat_diffusion import HeatDiffusion
-
+from components.plant import delay
 
 class Pot(APlant):
 	def __init__(self, dt, params, theta_amb=20):
@@ -10,35 +10,57 @@ class Pot(APlant):
 		self.e = 0
 		self.x = 0
 
+		# Plant power gain (efficiency)
 		self.gain = params['gain']
-		self.C = params['C']
-		self.M = params['M']
-		self.L = params['L']
-		self.Td = params['Td']
-		self.kn = params['kn']
-		self.temp = params['theta']
-		self.temp_intermediate = params['theta']
 
+		# Plant specific thermal capacity [W*s/(kg*K)]
+		self.C = params['C']
+
+		# Plant mass [kg]
+		self.M = params['M']
+
+		# Plant energy loss coefficient [W/(kg*K)]
+		# Negative input power as a function of plant mass and temperature difference T_plant and T_ambient
+		# P_loss = L * Mass * (T_plant - T_ambient)
+		self.L = params['L']
+
+		# Energy transport propagation delay
+		self.Td = params['Td']
+
+		# TBD
+		self.kn = params['kn']
+
+		# Plant temperature [°C]
+		self.temp = params['theta']
+
+		# Ambient temperature [°C]
 		self.theta_amb = theta_amb
 
+		# Set power [W]
 		self.power_set = 0
-		self.delay = HeatDiffusion(self.dt, self.Td, params['theta'])
+
+		# Plant delay [s]
+		self.delay = delay.Delay(dt, self.Td, 0)
+		self.p_in = 0
+		self.p_pot = 0
 
 	def initial(self, temp):
-		self.temp_intermediate = temp
 		self.temp = temp
-		self.delay.initial(temp)
 
 	def activate(self, enable):
 		pass
 
 	def process(self):
-		power = self.gain * self.power_set
-		leak = 1/self.M * self.L * (self.theta_amb - self.temp)/self.theta_amb
-		self.temp_intermediate += (power / (self.M * self.C) + leak) * self.dt
+		self.p_in = self.gain * self.power_set
+		self.delay.put(self.p_in)
 
-		# Delay
-		self.temp = self.delay.process(self.temp_intermediate)
+		p_loss = self.L * self.M * (self.temp - self.theta_amb)
+		self.p_pot = self.delay.get() - p_loss
+
+		print(f"p_loss: {p_loss}")
+		print(f"theta_amb: {self.theta_amb}")
+		print(f"temp: {self.temp}")
+		self.temp = min(100, self.temp + self.p_pot/(self.M * self.C) * self.dt)
 
 	def is_activated(self):
 		return True
@@ -52,5 +74,6 @@ class Pot(APlant):
 	def get_temperature(self):
 		return self.temp
 
-	def get_temperature_intermediate(self):
-		return self.temp_intermediate
+	def get_p_pot(self):
+		return self.p_pot
+

scripts/demos/pid/demo_temp_controller.py

@@ -2,23 +2,48 @@ import numpy as np
 from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
 from components.plant.pot import Pot
 from components.pid.temp_controller import TempController
-from components.pid.tc_constants import Test
 
 
 if __name__ == '__main__':
+	ctrl_params = {
+		"Hold": {
+			"kp": 0.4,
+			"ki": 0.0,
+			"kd": 0.0,
+			"kt": 0.0
+		},
+		"Heat": {
+			"kp": 0.08,
+			"ki": 0.008,
+			"kd": 0.0,
+			"kt": 1.5
+		}
+	}
+
+	plant_params = {
+		"theta"		: 20,
+		"C"			: 4190,
+		"M"			: 20,
+		"L"			: 0.2,
+		"Td"		: 30,
+		"kn"		: 0.2,
+		"gain"		: 1.0
+	}
+
 	dt = 1.0
+	k_noise = 0.001
 
 	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(dt, Test.tc_ctrl_params)
-	plant = Pot(dt, Test.tc_pot_params)
-	_temp_ist = np.empty(0)
-	_temp_soll = np.empty(0)
+	heatrate_soll = 1.25
+	ctrl = TempController(dt, ctrl_params)
+	plant = Pot(dt, plant_params)
 	_y = np.empty(0)
 	_fb = np.empty(0)
 	_t = np.empty(0)
-	_heatrate_ist_kalman = np.empty(0)
-	_temp_ist_kalman = np.empty(0)
+	_temp_soll = np.empty(0)
+	_heatrate_ist = np.empty(0)
+	_temp_ist = np.empty(0)
 	a = 0.5
 	fb = 0
 	rho = 0.02
@@ -30,7 +55,7 @@ if __name__ == '__main__':
 		hold_counter = temp['Duration']
 		hold = False
 		ctrl.set_theta_soll(temp_soll)
-		ctrl.set_heatrate_soll(1.0)
+		ctrl.set_heatrate_soll(heatrate_soll)
 
 		while True:
 			if hold:
@@ -38,7 +63,7 @@ if __name__ == '__main__':
 					break
 				hold_counter -= 1
 			plant.process()
-			temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
+			temp_ist = plant.get_temperature() + k_noise * np.random.randn()
 			ctrl.set_theta_ist(temp_ist)
 			ctrl.process()
 
@@ -55,8 +80,7 @@ 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, max(-1, min(3, ctrl.heatrate_ist)))
-			_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
+			_heatrate_ist = np.append(_heatrate_ist, max(-1, min(3, ctrl.heatrate_ist)))
 			t += 1
 
 	figure(1)
@@ -69,7 +93,7 @@ if __name__ == '__main__':
 	legend(["y", "pot"])
 	grid(True)
 	subplot(3, 1, 3)
-	plot(_t, _heatrate_ist_kalman, '-b', linewidth=1)
+	plot(_t, _heatrate_ist, '-b', linewidth=1)
 	legend(["heatrate"])
 	grid(True)
 	show()