def __init__(self):
# Objects
self.ext = osTools() # Initialise data key press
self.xls = xlsLogging(6) # Initialise excel data logging
self.pg = plotActiveGraph() # For graphical plot (PV,SP,OP)
self.rls = RLS() # Initialise Recursive Least Squares Object
self.MVC = MVController() # Initialise Controller
if int(sys.argv[1]) == 1:
self.r = testModel("../../tests/") # Initialise simulated lab rig
else:
self.rw = comClient() # Initialise Modbus comms class
# Variables
self.count = 0 # For 'heart beat' counter
self.intDataPoints = 10 # Initial Data Points to be read
self.sampleTime = 40 # Controller loop time
class discreteMVC:
def __init__(self):
# Objects
self.ext = osTools() # Initialise data key press
self.xls = xlsLogging(6) # Initialise excel data logging
self.pg = plotActiveGraph() # For graphical plot (PV,SP,OP)
self.rls = RLS() # Initialise Recursive Least Squares Object
self.MVC = MVController() # Initialise Controller
if int(sys.argv[1]) == 1:
self.r = testModel("../../tests/") # Initialise simulated lab rig
else:
self.rw = comClient() # Initialise Modbus comms class
# Variables
self.count = 0 # For 'heart beat' counter
self.intDataPoints = 10 # Initial Data Points to be read
self.sampleTime = 40 # Controller loop time
def run(self):
z = np.array(
[[0, self.X[0, self.intDataPoints - 1]], [0, self.X[1, self.intDataPoints - 1]]]
) # Array in the form Yt, Ut
time.sleep(self.sampleTime - (time.time() - self.timer))
startTime = time.time() # For time reference
print "Running Main Method..."
while True:
loopTime = time.time() # Itteration start time
r = self.dataPipe() # Read controller data as r
z[:, 0] = z[:, 1] # Shift Array
z[:, 1] = r.getRegister(0), r.getRegister(3) # Update Array
self.rls.solve(z[:, 0], z[0, 1]) # Call recursive least squares method
self.xls.writeXls(startTime, r, self.rls.sysID) # Pass data to excel for logging purposes
self.pg.dataUpdate(
(time.time() - startTime),
r.getRegister(0),
r.getRegister(2),
r.getRegister(3),
self.rls.sysID[0],
self.rls.sysID[1],
)
u = self.MVC.run(z[0, 1], r.getRegister(2), (self.rls.sysID))
if int(sys.argv[1]) == 1:
self.r.writeModel(u) # Write to model
else:
self.rw.dataHandler("w", u) # Write to MODBUS system
if self.ext.kbdExit(): # Detect exit condition
break
print self.count # Heartbeat
self.count += 1 # Heartbeat
time.sleep(self.sampleTime - (time.time() - loopTime))
def initialSetup(self):
self.X = np.array([np.zeros(self.intDataPoints), np.zeros(self.intDataPoints)])
self.Y = np.array([np.zeros(self.intDataPoints)])
for i in range(0, self.intDataPoints):
r = self.dataPipe()
self.X[0, i] = r.getRegister(0)
self.X[1, i] = r.getRegister(3)
if i > 0:
self.Y[:, i - 1] = self.X[0, i]
if i < (self.intDataPoints - 1):
time.sleep(self.sampleTime)
time.sleep(self.sampleTime)
self.timer = time.time()
self.rls.setup(self.X[:, :-1], np.matrix.transpose(self.Y[:, :-1]))
print "Setup Complete"
def dataPipe(self):
if int(sys.argv[1]) == 1:
self.r.readModel()
return self.r
else:
return self.rw.dataHandler("r")