- PID: use pot for testing

brewpi.py

@@ -227,7 +227,7 @@ if __name__ == '__main__':
 			"Hold": {
 				"Pid": {
 					"kp": 0.8,
-					"ki": 0.002,
+					"ki": 0.008,
 					"kd": 0.0,
 					"rho": 1.0
 				}

components/pid/pid.py

@@ -36,7 +36,7 @@ class Pid:
         yp = kp * err
 
         # Reset yi on error sign changes
-        if yp > self.y_max or yp < self.y_min:
+        if yp > self.y_max or yp <= self.y_min or np.sign(err) != np.sign(self.err):
             self.yi = 0
 
         self.err = err
@@ -44,7 +44,6 @@ class Pid:
         y = yp + self.yi + yd
 
         self.y = max(self.y_min, min(self.y_max, y))
-        print("yi = {}".format(self.yi))
 
     def get_y(self):
         return self.y

components/pid/temp_controller.py

@@ -1,4 +1,5 @@
 from components.pid.pid import Pid
+from components.plant.pot import Pot
 from matplotlib.pyplot import plot, figure, subplot, title, xlabel, ylabel, grid, show
 import numpy as np
 from utils.value import AttributeChange
@@ -53,9 +54,9 @@ if __name__ == '__main__':
 		"dt": 1.0,
 		"Hold": {
 			"Pid": {
-				"kp": 0.5,
+				"kp": 0.8,
-				"ki": 0.0,
+				"ki": 0.008,
-				"kd": 0.5,
+				"kd": 0.0,
 				"rho": 1.0
 			}
 		},
@@ -69,9 +70,20 @@ if __name__ == '__main__':
 		}
 	}
 
+	pot_params = {
+		"dt"		: 1.0,
+		"theta"			: 20,
+		"C"				: 4190,
+		"M"				: 20,
+		"L"				: 0.05,
+		"Td"			: 12,
+		"kn"			: 0.2
+	}
+
 	temp_ist = 0
 	temp_soll = 20
 	ctrl = TempController(params)
+	plant = Pot(pot_params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)
 	_y = np.empty(0)
@@ -80,7 +92,7 @@ if __name__ == '__main__':
 	a = 0.5
 	fb = 0
 	rho = 0.02
-	temps = [{'Temp': 20, 'Duration': 100}, {'Temp': 40, 'Duration': 100}, {'Temp': 35, 'Duration': 100}]
+	temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}]
 
 	t = 0
 	for temp in temps:
@@ -95,9 +107,11 @@ if __name__ == '__main__':
 					break
 				hold_counter -= 1
 			ctrl.process()
-			y = max(0, ctrl.get_power_hold())
+			plant.process()
-			fb = (1-a)*fb + a*round(y, 2)
+			y = max(0, 3500*ctrl.get_power_hold())
-			temp_ist += fb
+			plant.setPower(y)
+			temp_ist = round(plant.getTemperature(), 1)
+			fb = plant.getPower()
 			ctrl.set_theta_ist(temp_ist)
 			if abs(temp_ist - temp_soll) < 0.1:
 				hold = True