jens
5c7cffa3a7
- remove HeatDiffusion - use delay line for heat propagation modeling [Temp Controller] - remove Kalman
102 lines
2.2 KiB
Python
102 lines
2.2 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 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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}
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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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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)
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plant = Pot(dt, plant_params)
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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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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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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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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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show()
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print("End of program")
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