138 lines
2.9 KiB
Python
138 lines
2.9 KiB
Python
from components.pid.pid import Pid
|
|
from components.plant.pot import Pot
|
|
from matplotlib.pyplot import plot, figure, subplot, title, xlabel, ylabel, grid, show
|
|
import numpy as np
|
|
from utils.value import AttributeChange
|
|
|
|
|
|
class TempController(AttributeChange):
|
|
def __init__(self, params):
|
|
AttributeChange.__init__(self)
|
|
|
|
self.dt = params['dt']
|
|
self.pid_hold = Pid()
|
|
self.pid_rate = Pid()
|
|
self.theta_ist = 0
|
|
self.theta_soll = 0
|
|
self.heatrate_ist = 0
|
|
self.heatrate_soll = 0
|
|
self.params = params
|
|
self.y_hold = 0
|
|
self.y_heat = 0
|
|
|
|
def set_theta_ist(self, value):
|
|
self.theta_ist = value
|
|
|
|
def set_heatrate_ist(self, value):
|
|
self.heatrate_ist = value
|
|
|
|
def set_theta_soll(self, value):
|
|
self.theta_soll = value
|
|
|
|
def set_heatrate_soll(self, value):
|
|
self.heatrate_soll = value
|
|
|
|
def process(self):
|
|
theta_err = self.theta_soll - self.theta_ist
|
|
heatrate_err = self.heatrate_soll - self.heatrate_ist
|
|
|
|
self.pid_hold.process(self.dt, self.params['Hold']['Pid'], theta_err)
|
|
self.pid_rate.process(self.dt, self.params['Heat']['Pid'], heatrate_err)
|
|
|
|
self.y_hold = self.pid_hold.get_y()
|
|
self.y_heat = self.pid_rate.get_y()
|
|
|
|
def get_power_hold(self):
|
|
return self.y_hold
|
|
|
|
def get_power_heat(self):
|
|
return self.y_heat
|
|
|
|
|
|
if __name__ == '__main__':
|
|
params = {
|
|
"dt": 1.0,
|
|
"Hold": {
|
|
"Pid": {
|
|
"kp": 0.8,
|
|
"ki": 0.008,
|
|
"kd": 0.0,
|
|
"rho": 1.0
|
|
}
|
|
},
|
|
"Heat": {
|
|
"Pid": {
|
|
"kp": 0.002,
|
|
"ki": 0.0002,
|
|
"kd": 0.0,
|
|
"rho": 1.0
|
|
}
|
|
}
|
|
}
|
|
|
|
pot_params = {
|
|
"dt" : 1.0,
|
|
"theta" : 20,
|
|
"C" : 4190,
|
|
"M" : 20,
|
|
"L" : 0.05,
|
|
"Td" : 12,
|
|
"kn" : 0.2
|
|
}
|
|
|
|
temp_ist = 0
|
|
temp_soll = 20
|
|
ctrl = TempController(params)
|
|
plant = Pot(pot_params)
|
|
_temp_ist = np.empty(0)
|
|
_temp_soll = np.empty(0)
|
|
_y = np.empty(0)
|
|
_fb = np.empty(0)
|
|
_t = 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}]
|
|
|
|
t = 0
|
|
for temp in temps:
|
|
temp_soll = temp['Temp']
|
|
hold_counter = temp['Duration']
|
|
hold = False
|
|
ctrl.set_theta_soll(temp_soll)
|
|
|
|
while True:
|
|
if hold:
|
|
if hold_counter == 0:
|
|
break
|
|
hold_counter -= 1
|
|
ctrl.process()
|
|
plant.process()
|
|
y = max(0, 3500*ctrl.get_power_hold())
|
|
plant.setPower(y)
|
|
temp_ist = round(plant.getTemperature(), 1)
|
|
fb = plant.getPower()
|
|
ctrl.set_theta_ist(temp_ist)
|
|
if abs(temp_ist - temp_soll) < 0.1:
|
|
hold = True
|
|
|
|
temp_ist -= rho
|
|
_temp_ist = np.append(_temp_ist, temp_ist)
|
|
_temp_soll = np.append(_temp_soll, temp_soll)
|
|
_y = np.append(_y, y)
|
|
_fb = np.append(_fb, fb)
|
|
_t = np.append(_t, t)
|
|
t += 1
|
|
|
|
figure(1)
|
|
subplot(2, 1, 1)
|
|
plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
|
|
grid(True)
|
|
subplot(2, 1, 2)
|
|
plot(_t, _y, 'bx', _t, _fb, '-r', linewidth=1)
|
|
grid(True)
|
|
show()
|
|
|
|
print("End of program")
|
|
|