def calc_cost(tuning_rule, pid_pre_tune):
timestamp = 0
cost = 0
n_err = 0
delayed_temps_len = max(1, round(args.delay / args.sampletime))
sim = Simulation(
tuning_rule,
PIDArduino(args.sampletime, float(pid_pre_tune[0]),
float(pid_pre_tune[1]), float(pid_pre_tune[2]),
args.out_min, args.out_max, lambda: timestamp),
Kettle(args.diameter, args.volume, args.kettle_temp),
deque(maxlen=delayed_temps_len), [], [], [], [])
sim.delayed_temps.extend(sim.delayed_temps.maxlen * [args.kettle_temp])
# run system for a specified interval
while timestamp < (args.interval * 60):
timestamp += args.sampletime
output = sim.sut.calc(sim.delayed_temps[0], args.setpoint)
output = max(output, 0)
output = min(output, 100)
sim_update(sim, timestamp, output, args)
#start calculating error and cost(mse)
if timestamp > args.time_constant:
n_err += 1
err = args.setpoint - sim.sensor_temps[-1]
cost += err**2
J = cost / n_err
return J
def simulate_autotune(args):
timestamp = 0 # seconds
maxlen = max(1, round(args.delay / args.sampletime))
delayed_temps = deque(maxlen=maxlen)
delayed_temps.extend(maxlen * [args.kettle_temp])
# Simulation = namedtuple(
# 'Simulation',
# ['name', 'sut', 'kettle', 'delayed_temps', 'timestamps',
# 'heater_temps', 'sensor_temps', 'outputs'])
sim = Simulation(
'autotune',
PIDAutotune(
args.setpoint, 100, args.sampletime, out_min=args.out_min,
out_max=args.out_max, time=lambda: timestamp),
Kettle(args.diameter, args.volume, args.kettle_temp),
delayed_temps,
[], [], [], []
)
# Run autotune until completed
while not sim.sut.run(sim.delayed_temps[0]):
timestamp += args.sampletime
sim_update(sim, timestamp, sim.sut.output, args)
if args.verbose > 0:
print('time: {0} sec'.format(timestamp))
print('state: {0}'.format(sim.sut.state))
print('{0}: {1:.2f}%'.format(sim.name, sim.sut.output))
print('temp sensor: {0:.2f}°C'.format(sim.sensor_temps[-1]))
print('temp heater: {0:.2f}°C'.format(sim.heater_temps[-1]))
print()
print('time: {0} min'.format(round(timestamp / 60)))
print('state: {0}'.format(sim.sut.state))
print()
# On success, print params for each tuning rule
if sim.sut.state == PIDAutotune.STATE_SUCCEEDED:
for rule in sim.sut.tuning_rules:
params = sim.sut.get_pid_parameters(rule)
PID_dict[rule] = [params.Kp,params.Ki,params.Kd]
if rule == "ziegler-nichols":
PID_finetune[rule] = [params.Kp,params.Ki,params.Kd]
print('Rule: {0}'.format(rule))
print('Kp: {0}'.format(params.Kp))
print('Ki: {0}'.format(params.Ki))
print('Kd: {0}'.format(params.Kd))
print()
if args.export:
write_csv(sim)
if not args.noplot:
title = 'PID autotune, {0:.1f}l kettle, {1:.1f}kW heater, {2:.1f}s delay'.format(
args.volume, args.heater_power, args.delay)
plot_simulations([sim], title)
def simulate_pid(args,PID_dict):
timestamp = 0 # seconds
delayed_temps_len = max(1, round(args.delay / args.sampletime))
sims = []
# Create a simulation for each tuple pid(name, kp, ki, kd)
for key,pid in PID_dict.items():
sim = Simulation(
key,
PIDArduino(
args.sampletime, float(pid[0]), float(pid[1]), float(pid[2]),
args.out_min, args.out_max, lambda: timestamp),
Kettle(args.diameter, args.volume, args.kettle_temp),
deque(maxlen=delayed_temps_len),
[], [], [], []
)
sims.append(sim)
# Init delayed_temps deque for each simulation
for sim in sims:
sim.delayed_temps.extend(sim.delayed_temps.maxlen * [args.kettle_temp])
# Run simulation for specified interval
while timestamp < (args.interval * 60):
timestamp += args.sampletime
for sim in sims:
output = sim.sut.calc(sim.delayed_temps[0], args.setpoint)
output = max(output, 0)
output = min(output, 100)
sim_update(sim, timestamp, output, args)
if args.verbose > 0:
print('time: {0} sec'.format(timestamp))
print('{0}: {1:.2f}%'.format(sim.name, output))
print('temp sensor: {0:.2f}°C'.format(sim.sensor_temps[-1]))
print('temp heater: {0:.2f}°C'.format(sim.heater_temps[-1]))
if args.verbose > 0:
print()
if args.export:
for sim in sims:
write_csv(sim)
if not args.noplot:
title = 'PID simulation, {0:.1f}l kettle, {1:.1f}kW heater, {2:.1f}s delay'.format(
args.volume, args.heater_power, args.delay)
plot_simulations(sims, title)
from kettle import Kettle
k1 = Kettle(1500, 2000, 'white')
print('K1', k1.vol, k1.pwr, k1.clr)
k2 = Kettle(1000, 1500, 'black')
print('K2', k2.vol, k2.pwr, k2.clr)
k3 = Kettle(1500, 2000, 'black')
print('K3', k3.vol, k3.pwr, k3.clr)
k1.openLid()
k2.openLid()
k1.addWater(500)
k1.addWater(500)
k1.closeLid()
k1.on()
k1.boilKettle(100, 5)
k1.off()
k2.on()