jens/brewpi
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Move PID matplotlib demo harnesses out of production modules

Browse Source 
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:
jens
2026-06-19 08:21:47 +02:00
co-authored by Claude Sonnet 4.6
parent 9713d66e18
commit 81e66dbcd1
10 changed files with 223 additions and 218 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/pid/temp_controller_smith.py
-87
View File
@@ -1,9 +1,7 @@
from components.plant.pot import Pot
from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
from components.pid import Kalman
from components.pid.temp_controller_base import TempControllerBase
from components.pid.tc_constants import *
import numpy as np
class TempController(TempControllerBase):
@@ -82,88 +80,3 @@ class TempController(TempControllerBase):
self.process_fsm(diff)
self.process_pid(theta_err, heatrate_err)
if __name__ == '__main__':
dt = 1.0
temp_soll = 20
ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
plant = Pot(dt, Test.tc_pot_params)
_y = np.empty(0)
_fb = np.empty(0)
_t = np.empty(0)
_temp_soll = np.empty(0)
_temp_ist_kalman = np.empty(0)
_heatrate_ist_kalman = np.empty(0)
_temp_ist_kalman_plant = np.empty(0)
_heatrate_ist_kalman_plant = np.empty(0)
_temp_ist_kalman_model = np.empty(0)
_heatrate_ist_kalman_model = np.empty(0)
a = 0.5
fb = 0
rho = 0.02
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}]
t = 0
for temp in temps:
temp_soll = temp['Temp']
hold_counter = temp['Duration']
hold = False
ctrl.set_theta_soll(temp_soll)
ctrl.set_heatrate_soll(1.0)
while True:
if hold:
if hold_counter == 0:
break
hold_counter -= 1
plant.process()
temp_ist = plant.get_temperature()
ctrl.set_theta_ist(temp_ist)
ctrl.process()
y = 3500*ctrl.get_power()
power = max(0, y)
plant.set_power(power)
fb = plant.get_power()
if abs(temp_ist - temp_soll) < 0.1:
hold = True
_y = np.append(_y, y)
_fb = np.append(_fb, fb)
_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")