[Pot]

- remove HeatDiffusion
- use delay line for heat propagation modeling

[Temp Controller]
- remove Kalman

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()