jensandClaude Sonnet 4.6
5be1d4e862
Adds a configurable IIR pre-filter (beta, default 0.05, τ≈19 s at dt=1 s) applied to theta_ist before the derivative, so stirrer-induced temperature noise is attenuated before being amplified by differentiation rather than after. The shared filter/derivative/post-filter logic is factored into TempControllerBase._compute_heatrate(); both Normal and Smith subclasses call it, replacing their duplicated inline rate blocks. beta is read from TempCtrl.beta in the config (default 0.05 if absent) and added to config-sim.json.tpl and config-real.json.tpl. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
46 lines
652 B
Smarty
46 lines
652 B
Smarty
{
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"ambient_temperature": 20,
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"Controller" : {
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"stirrer_name": "pololu1376",
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"plant_name": "real",
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"pid_type": "Smith"
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},
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"TempCtrl": {
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"beta": 0.05,
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"Hold": {
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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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"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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"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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"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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"port": "/dev/ttyUSB0",
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"speed": "115200"
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},
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"Stirrer": {
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"port": "/dev/ttyACM0",
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"speed": "115200"
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}
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}
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