59 lines
1.3 KiB
Python
59 lines
1.3 KiB
Python
import numpy as np
|
|
import json
|
|
from components.aplant import APlant
|
|
|
|
|
|
class Pot(APlant):
|
|
def __init__(self, params):
|
|
self.dt = params['dt']
|
|
self.alpha = 1.0
|
|
|
|
self.e = 0
|
|
self.x = 0
|
|
self.gain = 0.999
|
|
|
|
self.C = params['C']
|
|
self.M = params['M']
|
|
self.L = params['L']
|
|
self.Td = params['Td']
|
|
self.kn = params['kn']
|
|
self.theta_amb = params['theta_amb']
|
|
|
|
self.theta = 0
|
|
|
|
self.alpha = self.dt / 1
|
|
self.alpha_delay = self.dt/self.Td
|
|
|
|
self.theta_changed_callback = None
|
|
self.power_set = 0
|
|
self.power_actual = 0
|
|
|
|
def connect_theta_changed(self, func):
|
|
self.theta_changed_callback = func
|
|
|
|
def activate(self, enable):
|
|
pass
|
|
|
|
def process(self):
|
|
# Delay
|
|
self.power_actual = (1-self.alpha_delay) * self.power_actual + self.alpha_delay * self.power_set
|
|
|
|
self.e = self.e * (1 - ((self.L * self.theta) * self.dt) / (self.M * self.C))
|
|
self.x = (1 - self.alpha) * self.x + self.gain * self.alpha * self.power_actual
|
|
self.e += self.x
|
|
theta = self.e / (self.M * self.C)
|
|
|
|
if self.theta_changed_callback is not None:
|
|
self.theta_changed_callback(self.getTemperature())
|
|
|
|
self.theta = theta
|
|
|
|
def setPower(self, power):
|
|
self.power_set = power
|
|
|
|
def getPower(self):
|
|
return round(self.power_actual, 1)
|
|
|
|
def getTemperature(self):
|
|
return round(self.theta + self.theta_amb + self.kn * np.random.normal(0, 1) / np.sqrt(12.0), 1)
|