jensandClaude Sonnet 4.6
78ee80f96d
Both controllers had nearly identical process_fsm(), process_pid(), and all getters/setters; only Kalman/model setup and process() genuinely differed, and the duplication had already drifted (the Smith variant resets model state on entering HEAT, the plain one didn't). Add TempControllerBase with the shared logic and three small hooks (init_kalman, on_state_entered, post_pid) subclasses use to plug in their own Kalman/model behavior. Each subclass now contains only what makes it different. Also fixes a latent crash: TempController's constructor only accepted (dt, params), but PidFactory/brewpi.py always call it with a third model_params arg, so pid_type "Normal" would have raised TypeError. The shared base's model_params=None default fixes this. Also initializes the Smith controller's trace attributes in __init__ instead of leaving them undefined until the first process() call. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
111 lines
3.1 KiB
Python
111 lines
3.1 KiB
Python
from components.plant.pot import Pot
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from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
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from components.pid import Kalman
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from components.pid.temp_controller_base import TempControllerBase
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from components.pid.tc_constants import *
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import numpy as np
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class TempController(TempControllerBase):
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def __init__(self, dt, params, model_params=None):
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TempControllerBase.__init__(self, dt, params, model_params)
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self.kalman = Kalman(dt, params['Kalman'])
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def init_kalman(self, value):
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self.kalman.initial((value, 0))
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def process(self):
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# Process Kalman
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if self.use_kalman:
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Z = self.kalman.process_measurement((self.theta_ist_set, 0), 0.0)
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xp = self.kalman.process(Z)
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self.theta_ist = xp[0, 0]
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self.heatrate_ist = xp[1, 0] * 60
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else:
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self.theta_ist = self.theta_ist_set
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self.heatrate_ist = self.heatrate_ist_set
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# Compensate for max heat rate to reduce overshoot
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if self.heatrate_soll_set > 0:
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self.pid_hold.scale(1.0/self.heatrate_soll_set)
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self.heatrate_soll = self.heatrate_soll_set * self.pid_hold.get_y()
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theta_err = self.theta_soll_set - self.theta_ist
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heatrate_err = self.heatrate_soll - self.heatrate_ist
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diff = self.theta_soll_set - self.theta_ist
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self.process_fsm(diff)
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self.process_pid(theta_err, heatrate_err)
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if __name__ == '__main__':
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dt = 1.0
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temp_ist = 0
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temp_soll = 20
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ctrl = TempController(dt, Test.tc_ctrl_params)
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plant = Pot(dt, Test.tc_pot_params)
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_temp_ist = np.empty(0)
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_temp_soll = np.empty(0)
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_y = np.empty(0)
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_fb = np.empty(0)
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_t = np.empty(0)
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_heatrate_ist_kalman = np.empty(0)
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_temp_ist_kalman = np.empty(0)
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a = 0.5
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fb = 0
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rho = 0.02
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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}]
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t = 0
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for temp in temps:
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temp_soll = temp['Temp']
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hold_counter = temp['Duration']
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hold = False
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ctrl.set_theta_soll(temp_soll)
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ctrl.set_heatrate_soll(1.0)
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while True:
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if hold:
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if hold_counter == 0:
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break
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hold_counter -= 1
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plant.process()
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temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
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ctrl.set_theta_ist(temp_ist)
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ctrl.process()
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y = 3500*ctrl.get_power()
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power = max(0, y)
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plant.set_power(power)
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fb = plant.get_power()
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if abs(temp_ist - temp_soll) < 0.1:
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hold = True
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temp_ist -= rho
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_temp_ist = np.append(_temp_ist, temp_ist)
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_temp_soll = np.append(_temp_soll, temp_soll)
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_y = np.append(_y, y)
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_fb = np.append(_fb, fb)
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_t = np.append(_t, t)
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_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, max(-1, min(3, ctrl.heatrate_ist)))
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_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
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t += 1
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figure(1)
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subplot(3, 1, 1)
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plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
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legend(["ist", "soll"])
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grid(True)
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subplot(3, 1, 2)
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plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
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legend(["y", "pot"])
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grid(True)
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subplot(3, 1, 3)
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plot(_t, _heatrate_ist_kalman, '-b', linewidth=1)
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legend(["heatrate"])
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grid(True)
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show()
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print("End of program")
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