- improved temp controller test

components/pid/temp_controller.py

@@ -45,9 +45,9 @@ if __name__ == '__main__':
 		"dt": 1.0,
 		"Hold": {
 			"Pid": {
-				"kp": 0.4,
-				"ki": 0.00004,
-				"kd": 0.0,
+				"kp": 0.5,
+				"ki": 0.0,
+				"kd": 0.5,
 				"rho": 1.0
 			}
 		},
@@ -64,21 +64,42 @@ if __name__ == '__main__':
 	temp_ist = 0
 	temp_soll = 20
 	ctrl = TempController(params)
-	ctrl.set_theta_ist(temp_ist)
-	ctrl.set_theta_soll(temp_soll)
-	t = range(0, 100)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)
-	for i in t:
-		_temp_ist = np.append(_temp_ist, temp_ist)
-		_temp_soll = np.append(_temp_soll, temp_soll)
-		ctrl.process()
-		y = ctrl.get_power_hold()
-		temp_ist += round(y, 2)
-		ctrl.set_theta_ist(temp_ist)
+	_t = np.empty(0)
+	a = 0.5
+	fb = 0
+	rho = 0.001
+	temps = [{'Temp': 20, 'Duration': 100}, {'Temp': 40, 'Duration': 100}, {'Temp': 30, 'Duration': 100}]
+
+	t = 0
+	for temp in temps:
+		temp_soll = temp['Temp']
+		hold_counter = temp['Duration']
+		hold = False
+		ctrl.set_theta_soll(temp_soll)
+
+		while True:
+			if hold:
+				if hold_counter == 0:
+					break
+				hold_counter -= 1
+			ctrl.process()
+			y = ctrl.get_power_hold()
+			fb = (1-a)*fb + a*round(y, 2)
+			temp_ist += fb
+			ctrl.set_theta_ist(temp_ist)
+			if abs(temp_ist - temp_soll) < 0.1:
+				hold = True
+
+			temp_ist -= rho
+			_temp_ist = np.append(_temp_ist, temp_ist)
+			_temp_soll = np.append(_temp_soll, temp_soll)
+			_t = np.append(_t, t)
+			t += 1
 
 	figure(1)
-	plot(t, _temp_ist - _temp_soll, 'bx', linewidth=1)
+	plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
 	grid(True)
 	show()