Move PID matplotlib demo harnesses out of production modules
temp_controller.py, temp_controller_smith.py, and kalman.py imported matplotlib at module level just to support eyeballed-plot __main__ blocks, coupling the live server's import graph to a GUI plotting lib it never uses at runtime. Relocate those demos (and kalman_eval.py) to scripts/demos/pid/ and strip the now-unused imports/__main__ blocks from the production files. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Claude Sonnet 4.6
@@ -1,6 +1,5 @@
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import numpy as np
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from numpy.linalg import inv
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from matplotlib.pyplot import plot, figure, subplot, grid, show
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class Kalman:
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@@ -76,57 +75,3 @@ class Kalman:
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I = np.eye(self.N)
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self.P = (I - K * self.H) * P
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return self.X
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# Main
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if __name__ == '__main__':
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dt = 1.0
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params = {
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'var_P' : 1,
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'var_Q' : 0.0001,
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'var_R' : 0.5
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}
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k = Kalman(dt, params)
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_x1 = np.empty(0)
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_y1 = np.empty(0)
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_x2 = np.empty(0)
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_y2 = np.empty(0)
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N = int(1000/dt)
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seqn = range(0, N)
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_seqn = range(0, 2*N)
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X = np.array([dt, 0])
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for n in seqn:
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Z = k.process_measurement(X, 0.5)
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# Kalman.print("Z:", Z)
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Xp = k.process(Z)
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_x1 = np.append(_x1, Z[0])
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_x2 = np.append(_x2, Z[1])
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_y1 = np.append(_y1, Xp[0])
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_y2 = np.append(_y2, Xp[1])
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for n in seqn:
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X[0] = X[0] + dt
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Z = k.process_measurement(X, 0.5)
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# Kalman.print("Z:", Z)
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Xp = k.process(Z)
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_x1 = np.append(_x1, Z[0])
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_x2 = np.append(_x2, Z[1])
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_y1 = np.append(_y1, Xp[0])
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_y2 = np.append(_y2, Xp[1])
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figure(1)
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subplot(2, 1, 1)
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plot(_seqn, _x1, 'bx', _seqn, _y1, '-r', linewidth=1)
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grid(True)
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subplot(2, 1, 2)
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plot(_seqn, _x2, 'bx', _seqn, _y2, '-r', linewidth=1)
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grid(True)
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show()
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print("End of program")
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@@ -1,9 +1,5 @@
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from components.plant.pot import Pot
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from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
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from components.pid import Kalman
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from components.pid.temp_controller_base import TempControllerBase
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from components.pid.tc_constants import *
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import numpy as np
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class TempController(TempControllerBase):
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@@ -36,75 +32,3 @@ class TempController(TempControllerBase):
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diff = self.theta_soll_set - self.theta_ist
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self.process_fsm(diff)
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self.process_pid(theta_err, heatrate_err)
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if __name__ == '__main__':
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dt = 1.0
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temp_ist = 0
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temp_soll = 20
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ctrl = TempController(dt, Test.tc_ctrl_params)
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plant = Pot(dt, Test.tc_pot_params)
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_temp_ist = np.empty(0)
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_temp_soll = np.empty(0)
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_y = np.empty(0)
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_fb = np.empty(0)
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_t = np.empty(0)
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_heatrate_ist_kalman = np.empty(0)
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_temp_ist_kalman = np.empty(0)
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a = 0.5
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fb = 0
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rho = 0.02
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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}, {'Temp': 78, 'Duration': 1000}]
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t = 0
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for temp in temps:
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temp_soll = temp['Temp']
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hold_counter = temp['Duration']
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hold = False
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ctrl.set_theta_soll(temp_soll)
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ctrl.set_heatrate_soll(1.0)
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while True:
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if hold:
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if hold_counter == 0:
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break
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hold_counter -= 1
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plant.process()
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temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
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ctrl.set_theta_ist(temp_ist)
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ctrl.process()
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y = 3500*ctrl.get_power()
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power = max(0, y)
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plant.set_power(power)
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fb = plant.get_power()
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if abs(temp_ist - temp_soll) < 0.1:
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hold = True
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temp_ist -= rho
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_temp_ist = np.append(_temp_ist, temp_ist)
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_temp_soll = np.append(_temp_soll, temp_soll)
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_y = np.append(_y, y)
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_fb = np.append(_fb, fb)
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_t = np.append(_t, t)
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_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, max(-1, min(3, ctrl.heatrate_ist)))
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_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
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t += 1
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figure(1)
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subplot(3, 1, 1)
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plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
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legend(["ist", "soll"])
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grid(True)
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subplot(3, 1, 2)
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plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
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legend(["y", "pot"])
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grid(True)
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subplot(3, 1, 3)
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plot(_t, _heatrate_ist_kalman, '-b', linewidth=1)
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legend(["heatrate"])
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grid(True)
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show()
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print("End of program")
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@@ -1,9 +1,7 @@
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from components.plant.pot import Pot
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from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
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from components.pid import Kalman
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from components.pid.temp_controller_base import TempControllerBase
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from components.pid.tc_constants import *
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import numpy as np
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class TempController(TempControllerBase):
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@@ -82,88 +80,3 @@ class TempController(TempControllerBase):
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self.process_fsm(diff)
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self.process_pid(theta_err, heatrate_err)
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if __name__ == '__main__':
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dt = 1.0
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temp_soll = 20
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ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
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plant = Pot(dt, Test.tc_pot_params)
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_y = np.empty(0)
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_fb = np.empty(0)
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_t = np.empty(0)
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_temp_soll = np.empty(0)
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_temp_ist_kalman = np.empty(0)
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_heatrate_ist_kalman = np.empty(0)
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_temp_ist_kalman_plant = np.empty(0)
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_heatrate_ist_kalman_plant = np.empty(0)
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_temp_ist_kalman_model = np.empty(0)
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_heatrate_ist_kalman_model = np.empty(0)
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a = 0.5
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fb = 0
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rho = 0.02
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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}, {'Temp': 78, 'Duration': 1000}]
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t = 0
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for temp in temps:
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temp_soll = temp['Temp']
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hold_counter = temp['Duration']
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hold = False
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ctrl.set_theta_soll(temp_soll)
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ctrl.set_heatrate_soll(1.0)
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while True:
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if hold:
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if hold_counter == 0:
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break
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hold_counter -= 1
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plant.process()
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temp_ist = plant.get_temperature()
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ctrl.set_theta_ist(temp_ist)
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ctrl.process()
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y = 3500*ctrl.get_power()
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power = max(0, y)
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plant.set_power(power)
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fb = plant.get_power()
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if abs(temp_ist - temp_soll) < 0.1:
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hold = True
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_y = np.append(_y, y)
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_fb = np.append(_fb, fb)
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_t = np.append(_t, t)
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_temp_soll = np.append(_temp_soll, temp_soll)
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_temp_ist_kalman_plant = np.append(_temp_ist_kalman_plant, ctrl.theta_ist_plant)
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_heatrate_ist_kalman_plant = np.append(_heatrate_ist_kalman_plant, max(-1, min(3, ctrl.dtheta_ist_plant)))
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_temp_ist_kalman_model = np.append(_temp_ist_kalman_model, ctrl.theta_ist_model_delay)
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_heatrate_ist_kalman_model = np.append(_heatrate_ist_kalman_model, max(-1, min(3, ctrl.dtheta_ist_model_delay)))
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t += 1
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figure(1)
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subplot(3, 1, 1)
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plot(_t, _temp_ist_kalman_plant, _t, _temp_soll, 'r-', linewidth=1)
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legend(["ist", "soll"])
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grid(True)
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subplot(3, 1, 2)
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plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
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legend(["y", "pot"])
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grid(True)
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subplot(3, 1, 3)
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plot(_t, _heatrate_ist_kalman_plant, '-b', linewidth=1)
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legend(["heatrate"])
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grid(True)
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figure(2)
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subplot(2, 1, 1)
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plot(_t, _temp_ist_kalman_plant, '-b', _t, _temp_ist_kalman_model, 'r-', linewidth=1)
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legend(["plant", "model"])
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grid(True)
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subplot(2, 1, 2)
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plot(_t, _heatrate_ist_kalman_plant, '-b', _t, _heatrate_ist_kalman_model, '-r', linewidth=1)
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legend(["plant", "model"])
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grid(True)
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show()
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print("End of program")
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@@ -0,0 +1,56 @@
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import numpy as np
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from matplotlib.pyplot import plot, figure, subplot, grid, show
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from components.pid.kalman import Kalman
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if __name__ == '__main__':
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dt = 1.0
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params = {
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'var_P' : 1,
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'var_Q' : 0.0001,
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'var_R' : 0.5
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}
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k = Kalman(dt, params)
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_x1 = np.empty(0)
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_y1 = np.empty(0)
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_x2 = np.empty(0)
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_y2 = np.empty(0)
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N = int(1000/dt)
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seqn = range(0, N)
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_seqn = range(0, 2*N)
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X = np.array([dt, 0])
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for n in seqn:
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Z = k.process_measurement(X, 0.5)
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# Kalman.print("Z:", Z)
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Xp = k.process(Z)
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_x1 = np.append(_x1, Z[0])
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_x2 = np.append(_x2, Z[1])
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_y1 = np.append(_y1, Xp[0])
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_y2 = np.append(_y2, Xp[1])
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for n in seqn:
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X[0] = X[0] + dt
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Z = k.process_measurement(X, 0.5)
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# Kalman.print("Z:", Z)
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Xp = k.process(Z)
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_x1 = np.append(_x1, Z[0])
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_x2 = np.append(_x2, Z[1])
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_y1 = np.append(_y1, Xp[0])
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_y2 = np.append(_y2, Xp[1])
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figure(1)
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subplot(2, 1, 1)
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plot(_seqn, _x1, 'bx', _seqn, _y1, '-r', linewidth=1)
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grid(True)
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subplot(2, 1, 2)
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plot(_seqn, _x2, 'bx', _seqn, _y2, '-r', linewidth=1)
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grid(True)
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show()
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print("End of program")
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@@ -0,0 +1,77 @@
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import numpy as np
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from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
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from components.plant.pot import Pot
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from components.pid.temp_controller import TempController
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from components.pid.tc_constants import Test
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if __name__ == '__main__':
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dt = 1.0
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temp_ist = 0
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temp_soll = 20
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ctrl = TempController(dt, Test.tc_ctrl_params)
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plant = Pot(dt, Test.tc_pot_params)
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_temp_ist = np.empty(0)
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_temp_soll = np.empty(0)
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_y = np.empty(0)
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_fb = np.empty(0)
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_t = np.empty(0)
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_heatrate_ist_kalman = np.empty(0)
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_temp_ist_kalman = np.empty(0)
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a = 0.5
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fb = 0
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rho = 0.02
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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}, {'Temp': 78, 'Duration': 1000}]
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t = 0
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for temp in temps:
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temp_soll = temp['Temp']
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hold_counter = temp['Duration']
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hold = False
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ctrl.set_theta_soll(temp_soll)
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ctrl.set_heatrate_soll(1.0)
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while True:
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if hold:
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if hold_counter == 0:
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break
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hold_counter -= 1
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plant.process()
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temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
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ctrl.set_theta_ist(temp_ist)
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ctrl.process()
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y = 3500*ctrl.get_power()
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power = max(0, y)
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plant.set_power(power)
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fb = plant.get_power()
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if abs(temp_ist - temp_soll) < 0.1:
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hold = True
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temp_ist -= rho
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_temp_ist = np.append(_temp_ist, temp_ist)
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_temp_soll = np.append(_temp_soll, temp_soll)
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_y = np.append(_y, y)
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_fb = np.append(_fb, fb)
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_t = np.append(_t, t)
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_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, max(-1, min(3, ctrl.heatrate_ist)))
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_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
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t += 1
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figure(1)
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subplot(3, 1, 1)
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plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
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legend(["ist", "soll"])
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grid(True)
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subplot(3, 1, 2)
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plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
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legend(["y", "pot"])
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grid(True)
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subplot(3, 1, 3)
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plot(_t, _heatrate_ist_kalman, '-b', linewidth=1)
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legend(["heatrate"])
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grid(True)
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show()
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print("End of program")
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@@ -0,0 +1,90 @@
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import numpy as np
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from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
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from components.plant.pot import Pot
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from components.pid.temp_controller_smith import TempController
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from components.pid.tc_constants import Test
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if __name__ == '__main__':
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dt = 1.0
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temp_soll = 20
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ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
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plant = Pot(dt, Test.tc_pot_params)
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_y = np.empty(0)
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_fb = np.empty(0)
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_t = np.empty(0)
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_temp_soll = np.empty(0)
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_temp_ist_kalman = np.empty(0)
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_heatrate_ist_kalman = np.empty(0)
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_temp_ist_kalman_plant = np.empty(0)
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_heatrate_ist_kalman_plant = np.empty(0)
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_temp_ist_kalman_model = np.empty(0)
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_heatrate_ist_kalman_model = np.empty(0)
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a = 0.5
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fb = 0
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rho = 0.02
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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}, {'Temp': 78, 'Duration': 1000}]
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t = 0
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for temp in temps:
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temp_soll = temp['Temp']
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hold_counter = temp['Duration']
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hold = False
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ctrl.set_theta_soll(temp_soll)
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ctrl.set_heatrate_soll(1.0)
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while True:
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if hold:
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if hold_counter == 0:
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break
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hold_counter -= 1
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plant.process()
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temp_ist = plant.get_temperature()
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ctrl.set_theta_ist(temp_ist)
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ctrl.process()
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y = 3500*ctrl.get_power()
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power = max(0, y)
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plant.set_power(power)
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fb = plant.get_power()
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if abs(temp_ist - temp_soll) < 0.1:
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hold = True
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_y = np.append(_y, y)
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_fb = np.append(_fb, fb)
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_t = np.append(_t, t)
|
||||
_temp_soll = np.append(_temp_soll, temp_soll)
|
||||
_temp_ist_kalman_plant = np.append(_temp_ist_kalman_plant, ctrl.theta_ist_plant)
|
||||
_heatrate_ist_kalman_plant = np.append(_heatrate_ist_kalman_plant, max(-1, min(3, ctrl.dtheta_ist_plant)))
|
||||
_temp_ist_kalman_model = np.append(_temp_ist_kalman_model, ctrl.theta_ist_model_delay)
|
||||
_heatrate_ist_kalman_model = np.append(_heatrate_ist_kalman_model, max(-1, min(3, ctrl.dtheta_ist_model_delay)))
|
||||
t += 1
|
||||
|
||||
figure(1)
|
||||
subplot(3, 1, 1)
|
||||
plot(_t, _temp_ist_kalman_plant, _t, _temp_soll, 'r-', linewidth=1)
|
||||
legend(["ist", "soll"])
|
||||
grid(True)
|
||||
subplot(3, 1, 2)
|
||||
plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
|
||||
legend(["y", "pot"])
|
||||
grid(True)
|
||||
subplot(3, 1, 3)
|
||||
plot(_t, _heatrate_ist_kalman_plant, '-b', linewidth=1)
|
||||
legend(["heatrate"])
|
||||
grid(True)
|
||||
|
||||
figure(2)
|
||||
subplot(2, 1, 1)
|
||||
plot(_t, _temp_ist_kalman_plant, '-b', _t, _temp_ist_kalman_model, 'r-', linewidth=1)
|
||||
legend(["plant", "model"])
|
||||
grid(True)
|
||||
subplot(2, 1, 2)
|
||||
plot(_t, _heatrate_ist_kalman_plant, '-b', _t, _heatrate_ist_kalman_model, '-r', linewidth=1)
|
||||
legend(["plant", "model"])
|
||||
grid(True)
|
||||
show()
|
||||
|
||||
print("End of program")
|
||||
Reference in New Issue
Block a user