jens
b72977d6cb
PidFactory.create() calls both controllers with the same (dt, params,
model_params, theta_amb=...) signature, but TempController ("Normal")
only accepted (dt, params) - any config using pid_type "Normal" would
crash with a TypeError on startup. It has no internal model, so just
accepts and ignores the extra arguments.
33 lines
1.2 KiB
Python
33 lines
1.2 KiB
Python
from components.pid.temp_controller_base import TempControllerBase
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class TempController(TempControllerBase):
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def __init__(self, dt, params, model_params=None, theta_amb=20):
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# model_params/theta_amb are accepted (but unused) for constructor
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# compatibility with TempControllerSmith - PidFactory.create() calls
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# either with the same arguments; "Normal" has no internal model.
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TempControllerBase.__init__(self, dt, params)
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self.dt = dt
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self.last_theta_ist = 20
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self.heatrate_ist = 0
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def process(self):
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# Process Kalman
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self.theta_ist = self.theta_ist_set
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heatrate = (self.theta_ist - self.last_theta_ist)/self.dt*60
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alpha = 0.1
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self.heatrate_ist = (1-alpha) * self.heatrate_ist + alpha*heatrate
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self.last_theta_ist = self.theta_ist
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# Compensate for max heat rate to reduce overshoot
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hold_scale = 1.0/self.heatrate_soll_set if self.heatrate_soll_set > 0 else 1.0
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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, hold_scale)
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