jens
858249f1e7
IDLE conflated two unrelated things: "controller disabled" and "needs to cool, which this heat-only actuator fakes via zero output." Split them apart: - IDLE now means disabled only - the FSM forces it whenever enabled=False, regardless of the temperature gap, and process_pid() zeroes y for it same as before. - New COOL state (mirroring HEAT) takes over the negative-diff case, with its own pid_cool (separate "Cool" gains, alongside Hold/Heat) instead of reusing pid_rate. Its output can legitimately be negative - it's the actuator (tasks/heater.py's actor(), already max(0, ...)) that clamps it to 0 because *this* plant (Pot) can only heat. A plant with real cooling capability could one day honor it directly. - Thresholds renamed accordingly (HoldIdle->HoldCool, HeatIdle-> HeatCool, new CoolHold/CoolHeat); config.json/.sim/.templ and the hand-rolled ctrl_params in scripts/demos/pid/ and demo_sud.py updated with a "Cool" params section (mirrors "Heat" for now, since there's no real cooling actuator to tune against yet). Also fixes a regression in demo_sud.py/the other PID demos: none of them ever called set_enabled(True), so since enabled defaults to False they never drove the heater at all - only caught because this change's demo_sud.py re-run got stuck in RAMPING forever.
120 lines
2.8 KiB
Python
120 lines
2.8 KiB
Python
import numpy as np
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from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
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from components.plant.pot import Pot
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from components.pid.temp_controller_smith import TempController
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if __name__ == '__main__':
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ctrl_params = {
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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": 0.008,
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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": 0.008,
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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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plant_params = {
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"theta" : 20,
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"C" : 4190,
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"M" : 20,
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"L" : 0.2,
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"Td" : 30,
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"kn" : 0.2,
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"gain" : 1.0
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}
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dt = 1.0
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theta_amb = 20
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k_noise = 0.001
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temp_ist = 0
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temp_soll = 20
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heatrate_soll = 1.25
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ctrl = TempController(dt, ctrl_params, plant_params, theta_amb)
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ctrl.set_enabled(True)
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plant = Pot(dt, plant_params, theta_amb)
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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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_temp_soll = np.empty(0)
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_heatrate_ist = np.empty(0)
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_temp_ist = np.empty(0)
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_temp_ist_model = np.empty(0)
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_temp_ist_model_delay = 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(heatrate_soll)
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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() + k_noise * 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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ctrl.set_model_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 = np.append(_heatrate_ist, max(-1, min(3, ctrl.heatrate_ist)))
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_temp_ist_model = np.append(_temp_ist_model, ctrl.theta_ist_model)
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_temp_ist_model_delay = np.append(_temp_ist_model_delay, ctrl.theta_ist_model_delay)
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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, '-b', linewidth=1)
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legend(["heatrate"])
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grid(True)
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figure(2)
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plot(_t, _temp_ist, '-b', _t, _temp_ist_model, '-g', _t, _temp_ist_model_delay, '-r', linewidth=1)
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legend(["plant", "model (fast)", "model (delayed)"])
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grid(True)
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show()
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print("End of program")
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