108 lines
2.2 KiB
Python
108 lines
2.2 KiB
Python
from components.pid.pid import Pid
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from matplotlib.pyplot import plot, figure, subplot, title, xlabel, ylabel, grid, show
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import numpy as np
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class TempController:
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def __init__(self, params):
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self.dt = params['dt']
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self.pid_hold = Pid()
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self.pid_rate = Pid()
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self.theta_ist = 0
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self.theta_soll = 0
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self.heatrate_ist = 0
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self.heatrate_soll = 0
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self.params = params
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def set_theta_ist(self, value):
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self.theta_ist = value
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def set_heatrate_ist(self, value):
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self.heatrate_ist = value
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def set_theta_soll(self, value):
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self.theta_soll = value
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def set_heatrate_soll(self, value):
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self.heatrate_soll = value
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def process(self):
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theta_err = self.theta_soll - self.theta_ist
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heatrate_err = self.heatrate_soll - self.heatrate_ist
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self.pid_hold.process(self.dt, self.params['Hold']['Pid'], theta_err)
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self.pid_rate.process(self.dt, self.params['Heat']['Pid'], heatrate_err)
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def get_power_hold(self):
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return self.pid_hold.get_y()
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def get_power_heat(self):
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return self.pid_rate.get_y()
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if __name__ == '__main__':
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params = {
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"dt": 1.0,
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"Hold": {
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"Pid": {
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"kp": 0.5,
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"ki": 0.0,
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"kd": 0.5,
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"rho": 1.0
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}
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},
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"Heat": {
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"Pid": {
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"kp": 0.002,
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"ki": 0.0002,
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"kd": 0.0,
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"rho": 1.0
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}
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}
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}
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temp_ist = 0
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temp_soll = 20
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ctrl = TempController(params)
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_temp_ist = np.empty(0)
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_temp_soll = np.empty(0)
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_t = np.empty(0)
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a = 0.5
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fb = 0
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rho = 0.001
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temps = [{'Temp': 20, 'Duration': 100}, {'Temp': 40, 'Duration': 100}, {'Temp': 30, 'Duration': 100}]
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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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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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ctrl.process()
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y = ctrl.get_power_hold()
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fb = (1-a)*fb + a*round(y, 2)
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temp_ist += fb
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ctrl.set_theta_ist(temp_ist)
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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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_t = np.append(_t, t)
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t += 1
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figure(1)
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plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
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grid(True)
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show()
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print("End of program")
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