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Pid configurable thresholds #2

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jens merged 11 commits from pid-configurable-thresholds into master 2026-06-19 15:03:52 +02:00
Conversation 0 Commits 11 Files Changed 22
+141 -198
3 changed files with 141 additions and 198 deletions
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components/pid/temp_controller.py
+7 -96
View File
@@ -1,64 +1,18 @@
from components.plant.pot import Pot from components.plant.pot import Pot
from matplotlib.pyplot import plot, figure, subplot, grid, show, legend from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
from components import APid from components.pid import Kalman
from components.pid import Pid, Kalman from components.pid.temp_controller_base import TempControllerBase
from components.pid.tc_constants import * from components.pid.tc_constants import *
import numpy as np import numpy as np
class TempController(APid): class TempController(TempControllerBase):
def __init__(self, dt, params): def __init__(self, dt, params, model_params=None):
APid.__init__(self) TempControllerBase.__init__(self, dt, params, model_params)
self.pid_hold = Pid(dt)
self.pid_rate = Pid(dt)
self.theta_ist_set = 0
self.theta_soll_set = 0
self.heatrate_ist_set = 0
self.heatrate_soll_set = 1.0
self.heatrate_soll = 1.0
self.theta_ist = 0
self.heatrate_ist = 0
self.params = params
self.kalman = Kalman(dt, params['Kalman']) self.kalman = Kalman(dt, params['Kalman'])
self.y = -1
self.state = States.INIT
self.use_kalman = True
self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat'])
self.is_startup = True
def set_theta_ist(self, value): def init_kalman(self, value):
self.theta_ist_set = value self.kalman.initial((value, 0))
if self.is_startup:
self.is_startup = False
self.kalman.initial((value, 0))
def get_theta_ist(self):
return self.theta_ist
def set_heatrate_ist(self, value):
self.heatrate_ist_set = value
def get_heatrate_ist(self):
return self.heatrate_ist
def set_theta_soll(self, value):
self.theta_soll_set = value
def get_theta_soll(self):
return self.theta_soll
def get_theta_soll_set(self):
return self.theta_soll_set
def set_heatrate_soll(self, value):
self.heatrate_soll_set = value
def get_heatrate_soll(self):
return self.heatrate_soll
def get_heatrate_soll_set(self):
return self.heatrate_soll_set
def process(self): def process(self):
# Process Kalman # Process Kalman
@@ -83,48 +37,6 @@ class TempController(APid):
self.process_fsm(diff) self.process_fsm(diff)
self.process_pid(theta_err, heatrate_err) self.process_pid(theta_err, heatrate_err)
def process_fsm(self, diff):
# Process state
state_next = self.state
if self.state == States.INIT:
if not self.is_startup:
state_next = States.IDLE
elif self.state == States.IDLE:
if diff >= THRESH_IDLE_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff >= -THRESH_IDLE_HOLD:
state_next = States.HOLD
self.pid_rate.reset()
elif self.state == States.HOLD:
if diff >= THRESH_HOLD_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff <= -THRESH_HOLD_IDLE:
state_next = States.IDLE
elif self.state == States.HEAT:
if diff <= -THRESH_HEAT_IDLE:
state_next = States.IDLE
elif diff <= THRESH_HEAT_HOLD:
state_next = States.HOLD
self.pid_hold.reset()
if state_next != self.state:
self.state = state_next
print("New state = {}".format(state_next))
def process_pid(self, theta_err, heatrate_err):
self.pid_hold.process(theta_err, -self.theta_ist)
self.pid_rate.process(heatrate_err, -self.heatrate_ist)
if self.state == States.IDLE:
self.y = 0
else:
self.y = self.pid_rate.get_y()
def get_power(self):
return self.y
if __name__ == '__main__': if __name__ == '__main__':
dt = 1.0 dt = 1.0
@@ -196,4 +108,3 @@ if __name__ == '__main__':
show() show()
print("End of program") print("End of program")
components/pid/temp_controller_base.py
+112
View File
@@ -0,0 +1,112 @@
from components import APid
from components.pid.pid import Pid
from components.pid.tc_constants import States, THRESH_HOLD_IDLE, THRESH_HOLD_HEAT, \
THRESH_IDLE_HEAT, THRESH_IDLE_HOLD, THRESH_HEAT_HOLD, THRESH_HEAT_IDLE
class TempControllerBase(APid):
def __init__(self, dt, params, model_params=None):
APid.__init__(self)
self.pid_hold = Pid(dt)
self.pid_rate = Pid(dt)
self.theta_ist_set = 0
self.theta_soll_set = 0
self.heatrate_ist_set = 0
self.heatrate_soll_set = 1.0
self.heatrate_soll = 1.0
self.theta_ist = 0
self.heatrate_ist = 0
self.params = params
self.model_params = model_params
self.y = -1
self.state = States.INIT
self.use_kalman = True
self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat'])
self.is_startup = True
def init_kalman(self, value):
raise NotImplementedError
def on_state_entered(self, state):
pass
def post_pid(self):
pass
def set_theta_ist(self, value):
self.theta_ist_set = value
if self.is_startup:
self.is_startup = False
self.init_kalman(value)
def get_theta_ist(self):
return self.theta_ist
def set_heatrate_ist(self, value):
self.heatrate_ist_set = value
def get_heatrate_ist(self):
return self.heatrate_ist
def set_theta_soll(self, value):
self.theta_soll_set = value
def get_theta_soll(self):
return self.theta_soll
def get_theta_soll_set(self):
return self.theta_soll_set
def set_heatrate_soll(self, value):
self.heatrate_soll_set = value
def get_heatrate_soll(self):
return self.heatrate_soll
def get_heatrate_soll_set(self):
return self.heatrate_soll_set
def process_fsm(self, diff):
state_next = self.state
if self.state == States.INIT:
if not self.is_startup:
state_next = States.IDLE
elif self.state == States.IDLE:
if diff >= THRESH_IDLE_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff >= -THRESH_IDLE_HOLD:
state_next = States.HOLD
self.pid_rate.reset()
elif self.state == States.HOLD:
if diff >= THRESH_HOLD_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff <= -THRESH_HOLD_IDLE:
state_next = States.IDLE
elif self.state == States.HEAT:
if diff <= -THRESH_HEAT_IDLE:
state_next = States.IDLE
elif diff <= THRESH_HEAT_HOLD:
state_next = States.HOLD
self.pid_hold.reset()
if state_next != self.state:
self.state = state_next
print("New state = {}".format(state_next))
self.on_state_entered(state_next)
def process_pid(self, theta_err, heatrate_err):
self.pid_hold.process(theta_err, -self.theta_ist)
self.pid_rate.process(heatrate_err, -self.heatrate_ist)
if self.state == States.IDLE:
self.y = 0
else:
self.y = self.pid_rate.get_y()
self.post_pid()
def get_power(self):
return self.y
components/pid/temp_controller_smith.py
+22 -102
View File
@@ -1,73 +1,42 @@
from components.plant.pot import Pot from components.plant.pot import Pot
from matplotlib.pyplot import plot, figure, subplot, grid, show, legend from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
from components import APid from components.pid import Kalman
from components.pid import Pid, Kalman from components.pid.temp_controller_base import TempControllerBase
from components.pid.tc_constants import * from components.pid.tc_constants import *
import numpy as np import numpy as np
class TempController(APid): class TempController(TempControllerBase):
def __init__(self, dt, params, model_params): def __init__(self, dt, params, model_params):
APid.__init__(self) TempControllerBase.__init__(self, dt, params, model_params)
self.pid_hold = Pid(dt)
self.pid_rate = Pid(dt)
self.theta_ist_set = 0
self.theta_soll_set = 0
self.heatrate_ist_set = 0
self.heatrate_soll_set = 1.0
self.heatrate_soll = 1.0
self.theta_ist = 0
self.heatrate_ist = 0
self.params = params
self.model_params = model_params
self.kalman_model = Kalman(dt, params['Kalman']) self.kalman_model = Kalman(dt, params['Kalman'])
self.kalman_model_delay = Kalman(dt, params['Kalman']) self.kalman_model_delay = Kalman(dt, params['Kalman'])
self.kalman_plant = Kalman(dt, params['Kalman']) self.kalman_plant = Kalman(dt, params['Kalman'])
self.y = -1
self.state = States.INIT
self.use_kalman = True
self.pid_hold.set_params(params['Hold'])
self.pid_rate.set_params(params['Heat'])
self.model = Pot(dt, model_params) self.model = Pot(dt, model_params)
self.is_startup = True
self.theta_ist_plant = 0
self.dtheta_ist_plant = 0
self.theta_ist_model = 0
self.dtheta_ist_model = 0
self.theta_ist_model_delay = 0
self.dtheta_ist_model_delay = 0
def set_model_power(self, power): def set_model_power(self, power):
self.model.set_power(power) self.model.set_power(power)
def set_theta_ist(self, value): def init_kalman(self, value):
self.theta_ist_set = value self.kalman_model.initial((value, 0))
if self.is_startup: self.kalman_model_delay.initial((value, 0))
self.is_startup = False self.kalman_plant.initial((value, 0))
self.kalman_model.initial((value, 0))
self.kalman_model_delay.initial((value, 0))
self.kalman_plant.initial((value, 0))
def get_theta_ist(self): def on_state_entered(self, state):
return self.theta_ist if state == States.HEAT:
self.model.initial(self.theta_ist)
self.kalman_model.initial((self.theta_ist, 0))
self.kalman_model_delay.initial((self.theta_ist, 0))
def set_heatrate_ist(self, value): def post_pid(self):
self.heatrate_ist_set = value self.model.process()
def get_heatrate_ist(self):
return self.heatrate_ist
def set_theta_soll(self, value):
self.theta_soll_set = value
def get_theta_soll(self):
return self.theta_soll
def get_theta_soll_set(self):
return self.theta_soll_set
def set_heatrate_soll(self, value):
self.heatrate_soll_set = value
def get_heatrate_soll(self):
return self.heatrate_soll
def get_heatrate_soll_set(self):
return self.heatrate_soll_set
def process(self): def process(self):
# Process Kalman of Plant # Process Kalman of Plant
@@ -114,54 +83,6 @@ class TempController(APid):
self.process_fsm(diff) self.process_fsm(diff)
self.process_pid(theta_err, heatrate_err) self.process_pid(theta_err, heatrate_err)
def process_fsm(self, diff):
# Process state
state_next = self.state
if self.state == States.INIT:
if not self.is_startup:
state_next = States.IDLE
elif self.state == States.IDLE:
if diff >= THRESH_IDLE_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff >= -THRESH_IDLE_HOLD:
state_next = States.HOLD
self.pid_rate.reset()
elif self.state == States.HOLD:
if diff >= THRESH_HOLD_HEAT:
state_next = States.HEAT
self.pid_rate.reset()
elif diff <= -THRESH_HOLD_IDLE:
state_next = States.IDLE
elif self.state == States.HEAT:
if diff <= -THRESH_HEAT_IDLE:
state_next = States.IDLE
elif diff <= THRESH_HEAT_HOLD:
state_next = States.HOLD
self.pid_hold.reset()
if state_next != self.state:
self.state = state_next
print("New state = {}".format(state_next))
if state_next == States.HEAT:
self.model.initial(self.theta_ist)
self.kalman_model.initial((self.theta_ist, 0))
self.kalman_model_delay.initial((self.theta_ist, 0))
def process_pid(self, theta_err, heatrate_err):
self.pid_hold.process(theta_err, -self.theta_ist)
self.pid_rate.process(heatrate_err, -self.heatrate_ist)
if self.state == States.IDLE:
self.y = 0
else:
self.y = self.pid_rate.get_y()
self.model.process()
def get_power(self):
return self.y
if __name__ == '__main__': if __name__ == '__main__':
dt = 1.0 dt = 1.0
@@ -246,4 +167,3 @@ if __name__ == '__main__':
show() show()
print("End of program") print("End of program")