jensandClaude Sonnet 4.6
81e66dbcd1
temp_controller.py, temp_controller_smith.py, and kalman.py imported matplotlib at module level just to support eyeballed-plot __main__ blocks, coupling the live server's import graph to a GUI plotting lib it never uses at runtime. Relocate those demos (and kalman_eval.py) to scripts/demos/pid/ and strip the now-unused imports/__main__ blocks from the production files. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
35 lines
1.1 KiB
Python
35 lines
1.1 KiB
Python
from components.pid import Kalman
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from components.pid.temp_controller_base import TempControllerBase
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class TempController(TempControllerBase):
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def __init__(self, dt, params):
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TempControllerBase.__init__(self, dt, 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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