def __init__(self, name=None, *args, **kwargs):
super(LearningPistonController, self).__init__(*args, **kwargs)
pit_init = super(LearningPistonController, self).valveCommandFromFlow
self.clay_pit_pos = OneDClayPit(min_x=1e-6,
max_x=4.0 * gpm2cmps,
n_points=64,
init_func=pit_init,
max_slope=1.0 / (6.0 * gpm2cmps),
k=1.0,
name=name + '_pos')
self.clay_pit_neg = OneDClayPit(min_x=-4.0 * gpm2cmps,
max_x=-1e-6,
n_points=64,
init_func=pit_init,
max_slope=1.0 / (6.0 * gpm2cmps),
k=1.0,
name=name + '_neg')
self.valve_cmd = 0.0
def __init__(self, name=None, *args, **kwargs):
super(LearningPistonController, self).__init__(*args, **kwargs)
pit_init = super(LearningPistonController, self).valveCommandFromFlow
self.clay_pit_pos = OneDClayPit( min_x=1e-6, max_x = 4.0*gpm2cmps, n_points = 64, init_func=pit_init, max_slope=1.0/(6.0*gpm2cmps), k=1.0, name=name+'_pos' )
self.clay_pit_neg = OneDClayPit( min_x=-4.0*gpm2cmps, max_x = -1e-6, n_points = 64, init_func=pit_init, max_slope=1.0/(6.0*gpm2cmps), k=1.0, name=name+'_neg' )
self.valve_cmd = 0.0
class LearningPistonController(PistonController):
"""
Stores a history of measured rates vs. valve commands and corrects itself over time.
"""
def __init__(self, name=None, *args, **kwargs):
super(LearningPistonController, self).__init__(*args, **kwargs)
pit_init = super(LearningPistonController, self).valveCommandFromFlow
self.clay_pit_pos = OneDClayPit(min_x=1e-6,
max_x=4.0 * gpm2cmps,
n_points=64,
init_func=pit_init,
max_slope=1.0 / (6.0 * gpm2cmps),
k=1.0,
name=name + '_pos')
self.clay_pit_neg = OneDClayPit(min_x=-4.0 * gpm2cmps,
max_x=-1e-6,
n_points=64,
init_func=pit_init,
max_slope=1.0 / (6.0 * gpm2cmps),
k=1.0,
name=name + '_neg')
self.valve_cmd = 0.0
def saveState(self):
self.clay_pit_pos.saveState()
self.clay_pit_neg.saveState()
def update(self, target_rate, measured_rate=None):
target_flow = self.flowFromLinearRate(target_rate)
# Calc valve command
# MIN FLOW RATE
min_flow = 0.025 * gpm2cmps
if target_flow > min_flow:
self.valve_cmd = self.clay_pit_pos.lookup(target_flow)
elif target_flow < -min_flow:
self.valve_cmd = self.clay_pit_neg.lookup(target_flow)
else:
#Interpolate through the deadband. Better than just setting 0.
rem = (target_flow + min_flow) / (2 * min_flow)
self.valve_cmd = (1-rem)*self.clay_pit_pos.lookup( min_flow)\
+ (rem)*self.clay_pit_neg.lookup(-min_flow)
# "Learn"
if measured_rate != None:
measured_flow = self.flowFromLinearRate(measured_rate)
def sign(x):
if x < 0:
return -1
if x > 0:
return 1
return 0
def sat(x, lim):
return max(min(x, lim), -lim)
if sign(measured_flow) == sign(self.valve_cmd)\
and abs(target_flow) > min_flow:
flow_error = target_flow - measured_flow
#flow_error = measured_flow-target_flow
error_mult = 10
err = flow_error * error_mult
#err = sat(err, 1e-5)
if target_flow > 0:
self.clay_pit_pos.lookup(target_flow, self.valve_cmd + err)
elif target_flow < 0:
self.clay_pit_neg.lookup(target_flow, self.valve_cmd + err)
return self.valve_cmd
class LearningPistonController(PistonController):
"""
Stores a history of measured rates vs. valve commands and corrects itself over time.
"""
def __init__(self, name=None, *args, **kwargs):
super(LearningPistonController, self).__init__(*args, **kwargs)
pit_init = super(LearningPistonController, self).valveCommandFromFlow
self.clay_pit_pos = OneDClayPit( min_x=1e-6, max_x = 4.0*gpm2cmps, n_points = 64, init_func=pit_init, max_slope=1.0/(6.0*gpm2cmps), k=1.0, name=name+'_pos' )
self.clay_pit_neg = OneDClayPit( min_x=-4.0*gpm2cmps, max_x = -1e-6, n_points = 64, init_func=pit_init, max_slope=1.0/(6.0*gpm2cmps), k=1.0, name=name+'_neg' )
self.valve_cmd = 0.0
def saveState(self):
self.clay_pit_pos.saveState()
self.clay_pit_neg.saveState()
def update(self, target_rate, measured_rate=None):
target_flow = self.flowFromLinearRate(target_rate)
# Calc valve command
# MIN FLOW RATE
min_flow = 0.025*gpm2cmps
if target_flow > min_flow:
self.valve_cmd = self.clay_pit_pos.lookup(target_flow)
elif target_flow < -min_flow:
self.valve_cmd = self.clay_pit_neg.lookup(target_flow)
else:
#Interpolate through the deadband. Better than just setting 0.
rem = (target_flow+min_flow)/(2*min_flow)
self.valve_cmd = (1-rem)*self.clay_pit_pos.lookup( min_flow)\
+ (rem)*self.clay_pit_neg.lookup(-min_flow)
# "Learn"
if measured_rate != None:
measured_flow = self.flowFromLinearRate(measured_rate)
def sign(x):
if x<0:
return -1
if x>0:
return 1
return 0
def sat(x,lim):
return max(min(x,lim),-lim)
if sign(measured_flow) == sign(self.valve_cmd)\
and abs(target_flow) > min_flow:
flow_error = target_flow-measured_flow
#flow_error = measured_flow-target_flow
error_mult=10
err = flow_error*error_mult
#err = sat(err, 1e-5)
if target_flow > 0:
self.clay_pit_pos.lookup( target_flow, self.valve_cmd+err )
elif target_flow < 0:
self.clay_pit_neg.lookup( target_flow, self.valve_cmd+err )
return self.valve_cmd