jensandClaude Sonnet 5
2d032bf9b2
Testing the windup-fix rework live against sude/sud_0030.json surfaced a
distinct bug: a HOLD overshoot from grain-fill-in cooling never decayed -
process_pid()'s pid_outer_y floor clamped to exactly 0.0, so pid_inner
fought the pot's own ambient loss to hold the overshot temperature flat
instead of declining back to setpoint (see docs/overshoot2.png).
Replace the hardcoded 0.0 floor with a configurable Outer.y_hold_min
(default 0.0, backward compatible), set to -0.1 in config.json, both
.tpl templates, and the demo scripts - small enough to avoid
reintroducing the bb5af3c limit cycle while letting HOLD request a
gentle decline matching passive ambient cooling.
Adds TestHoldOvershootRecoversToSetpoint and documents the finding in
docs/overshoot_hold_windup.md's Follow-up section and
components/pid/TODO.md. Confirmed against a live sud_0030 re-run, not
just the unit test.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01M2ierBoxW3v7nUbDw3M2pE
123 lines
2.5 KiB
Python
123 lines
2.5 KiB
Python
import numpy as np
|
|
from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
|
|
from components.plant.pot import Pot
|
|
from components.pid.temp_controller import TempController
|
|
|
|
|
|
if __name__ == '__main__':
|
|
ctrl_params = {
|
|
"Outer": {
|
|
"kp": 0.4,
|
|
"ki": 0.0,
|
|
"kd": 0.0,
|
|
"kt": 0.0,
|
|
"y_hold_min": -0.1
|
|
},
|
|
"Inner": {
|
|
"Heat": {
|
|
"kp": 0.08,
|
|
"ki": 0.008,
|
|
"kd": 0.0,
|
|
"kt": 1.5
|
|
},
|
|
"Hold": {
|
|
"kp": 0.08,
|
|
"ki": 0.008,
|
|
"kd": 0.0,
|
|
"kt": 1.5,
|
|
"yi_max": 0.3
|
|
},
|
|
"Cool": {
|
|
"kp": 0.08,
|
|
"ki": 0.008,
|
|
"kd": 0.0,
|
|
"kt": 1.5
|
|
}
|
|
}
|
|
}
|
|
|
|
plant_params = {
|
|
"theta" : 20,
|
|
"C" : 4190,
|
|
"M" : 20,
|
|
"L" : 0.2,
|
|
"Td" : 30,
|
|
"kn" : 0.2,
|
|
"gain" : 1.0
|
|
}
|
|
|
|
dt = 1.0
|
|
theta_amb = 20
|
|
k_noise = 0.001
|
|
|
|
temp_ist = 0
|
|
temp_soll = 20
|
|
heatrate_soll = 1.25
|
|
ctrl = TempController(dt)
|
|
ctrl.set_params(ctrl_params)
|
|
ctrl.set_enabled(True)
|
|
plant = Pot(dt)
|
|
plant.set_plant_params(plant_params)
|
|
plant.set_ambient_temperature(theta_amb)
|
|
_y = np.empty(0)
|
|
_fb = np.empty(0)
|
|
_t = np.empty(0)
|
|
_temp_soll = np.empty(0)
|
|
_heatrate_ist = np.empty(0)
|
|
_temp_ist = 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}, {'Temp': 78, 'Duration': 1000}]
|
|
|
|
t = 0
|
|
for temp in temps:
|
|
temp_soll = temp['Temp']
|
|
hold_counter = temp['Duration']
|
|
hold = False
|
|
ctrl.set_theta_soll(temp_soll)
|
|
ctrl.set_heatrate_soll(heatrate_soll)
|
|
|
|
while True:
|
|
if hold:
|
|
if hold_counter == 0:
|
|
break
|
|
hold_counter -= 1
|
|
plant.process()
|
|
temp_ist = plant.get_temperature() + k_noise * np.random.randn()
|
|
ctrl.set_theta_ist(temp_ist)
|
|
ctrl.process()
|
|
|
|
y = 3500*ctrl.get_power()
|
|
power = max(0, y)
|
|
plant.set_power(power)
|
|
fb = plant.get_power()
|
|
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)
|
|
_heatrate_ist = np.append(_heatrate_ist, max(-1, min(3, ctrl.heatrate_ist)))
|
|
t += 1
|
|
|
|
figure(1)
|
|
subplot(3, 1, 1)
|
|
plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
|
|
legend(["ist", "soll"])
|
|
grid(True)
|
|
subplot(3, 1, 2)
|
|
plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
|
|
legend(["y", "pot"])
|
|
grid(True)
|
|
subplot(3, 1, 3)
|
|
plot(_t, _heatrate_ist, '-b', linewidth=1)
|
|
legend(["heatrate"])
|
|
grid(True)
|
|
show()
|
|
|
|
print("End of program")
|