jensandClaude Sonnet 5
f69d63c31b
Renames pid_hold/pid_heat/pid_cool to pid_outer/pid_inner/pid_inner_cool
to match what actually runs when, and splits inner-loop config into
Inner.Heat/Inner.Hold/Inner.Cool so the same PID instance gets a tight
yi_max ceiling only while HOLD drives it, without capping legitimate
1.5 K/min ramps. Fixes the overshoot from docs/overshoot_hold_windup.md
where a cold-water disturbance during HOLD wound up pid_heat's integral
term with no anti-windup engagement, taking ~35s+ to unwind naturally.
Breaking config change: Hold/Heat/Cool -> Outer/Inner.{Heat,Hold,Cool}
in config.json, both .tpl templates, the pid/sud demo scripts, and
replay_sim.py's CLI flags. Adds tests/components/pid/ (stdlib unittest)
covering the Pid clamp/recovery behavior and closed-loop disturbance,
ramp, and HOLD<->HEAT transition cases.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DGQhVQ2Y3yXAQTXhrxVd5u
66 lines
970 B
Smarty
66 lines
970 B
Smarty
{
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"ambient_temperature": 20,
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"log_interval": 300,
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"TempCtrl": {
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"pid_type": "Smith",
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"beta": 0.05,
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"Outer": {
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"kp": 0.4,
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"ki": 0.0,
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"kd": 0.0,
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"kt": 0.0
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},
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"Inner": {
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"Heat": {
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"kp": 0.08,
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"ki": 0.02,
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"kd": 0.0,
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"kt": 1.5
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},
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"Hold": {
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"kp": 0.08,
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"ki": 0.02,
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"kd": 0.0,
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"kt": 1.5,
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"yi_max": 0.3
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},
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"Cool": {
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"kp": 0.08,
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"ki": 0.02,
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"kd": 0.0,
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"kt": 1.5
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}
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},
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"Thresholds": {
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"HoldHeat": 1.0,
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"HoldCool": 1.0,
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"HeatHold": 1.0,
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"HeatCool": 1.0,
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"CoolHold": 1.0,
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"CoolHeat": 1.0
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}
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},
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"Heater": {
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"type": "hendi",
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"port": "/dev/ttyUSB0",
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"speed": "115200"
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},
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"Stirrer": {
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"type": "pololu1376",
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"port": "/dev/ttyACM0",
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"speed": "115200"
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},
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"TempSensor": {
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"type": "max31865",
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"temp_offset": -0.15
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},
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"Pot": {
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"mass": 5.96,
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"material": "Edelstahl 18/10",
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"L": 0.2,
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"Td": 17,
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"water_mass": 22,
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"volumen": 30
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}
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}
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