def __init__(self):
self.valves_status = {
"Bay_2L-Busbar_2R": 0.0,
"Bay_2L-Busbar_1R": 0.0,
"Bay_2H-Busbar_B": 0.0,
"Bay_2H-Busbar_2F": 0.0,
"Bay_2H-Busbar_1F": 0.0,
"Bay_2L-Busbar_B": 0.0,
"Bay_3L-Busbar_2R": 0.0,
"Bay_3L-Busbar_1R": 0.0,
"Bay_3H-Busbar_B": 0.0,
"Bay_3H-Busbar_2F": 0.0,
"Bay_3H-Busbar_1F": 0.0,
"Bay_3L-Busbar_B": 0.0,
"Bay_4L-Busbar_2R": 0.0,
"Bay_4L-Busbar_1R": 0.0,
"Bay_4H-Busbar_B": 0.0,
"Bay_4H-Busbar_2F": 0.0,
"Bay_4H-Busbar_1F": 0.0,
"Bay_4L-Busbar_B": 0.0,
"Bay_5L-Busbar_1R": 0.0,
"Bay_5L-Busbar_2R": 0.0,
"Bay_5H-Busbar_B": 0.0,
"Bay_5H-Busbar_1F": 0.0,
"Bay_5H-Busbar_2F": 0.0,
"Bay_5L-Busbar_B": 0.0,
"Bay_6L-Busbar_1R": 0.0,
"Bay_6L-Busbar_2R": 0.0,
"Bay_6H-Busbar_B": 0.0,
"Bay_6H-Busbar_1F": 0.0,
"Bay_6H-Busbar_2F": 0.0,
"Bay_6L-Busbar_B": 0.0,
"Bay_7H-Busbar_1F": 0.0,
"Bay_7H-Busbar_2F": 0.0,
"Bay_7L-Busbar_1R": 0.0,
"Bay_7L-Busbar_2R": 0.0,
"Bay_8H-Busbar_1F": 0.0,
"Bay_8H-Busbar_2F": 0.0,
"Bay_8L-Busbar_1R": 0.0,
"Bay_8L-Busbar_2R": 0.0
}
self.pumps_status = {
"Pump_Bay4": 0.0,
"Pump_Bay5": 0.0,
"Pump_Bay6": 0.0,
"Pump_Bay7": 0.0,
"Pump_Bay8": 0.0
}
self.interface = syslab.HeatSwitchBoard(_BUILDING_NAME)
def PID_controller(self, inputs, process_ID, queue):
print("Controller Constant Flow Started")
interface = syslab.HeatSwitchBoard(_BUILDING_NAME)
plt.show()
plt.ion()
self.xdata = [[], []]
self.ydata = [[], []]
f, (self.ax1, self.ax2) = plt.subplots(2, 1)
self.ax1.set_xlim(0, 100)
self.ax1.set_ylim(-50, +50)
self.ax2.set_xlim(0, 100)
self.ax2.set_ylim(-50, +50)
self.line, = self.ax1.plot(self.xdata[0], self.ydata[0], 'r-')
self.line2, = self.ax2.plot(self.xdata[1] * 2, self.ydata[1], 'b-')
self.line.set_xdata(self.xdata)
self.line.set_ydata(self.ydata)
self.plot_array = [self.ax1, self.ax2]
self.line_array = [self.line, self.line2]
self.thresholds = []
start_time = time.time()
self.n = 0
self.work_q = queue
stopper = False
active_circuit = True
print("Control Process {0} started".format(process_ID))
print("I am process", process_ID)
inputs = pickle.loads(inputs)
print(inputs)
self.process_ID = process_ID
max = 100
min = 0
pumps_of_circuit = inputs["pumps_of_circuit"]
kp = float(inputs["kp"])
kd = float(inputs["kd"])
ki = float(inputs["ki"])
gain = float(inputs["gain"])
circulators = inputs["circulator"]
circulator_mode = int(inputs["circulator_mode"])
print(circulator_mode)
feedback_sensor = inputs["feedback_sensor"]
actuators = inputs["actuator"]
valves = inputs["valves"]
setpoint = [float(n) for n in inputs["setpoint"]]
feedback_value = [_FIRST_OF_CLASS] * len(feedback_sensor)
time_response = [_FIRST_OF_CLASS] * len(feedback_sensor)
derivative = [_FIRST_OF_CLASS] * len(feedback_sensor)
integral = [_FIRST_OF_CLASS] * len(feedback_sensor)
windup_corrector = [_FIRST_OF_CLASS] * len(feedback_sensor)
controller_output = [_FIRST_OF_CLASS] * len(actuators)
controller_output_percentage = [_FIRST_OF_CLASS] * len(actuators)
pre_error = [_FIRST_OF_CLASS] * len(feedback_sensor)
actuator_signal = [_FIRST_OF_CLASS] * len(actuators)
error_value = [_FIRST_OF_CLASS] * len(feedback_sensor)
self.thresholds = [_FIRST_OF_CLASS] * len(feedback_sensor)
CompositMess = [_FIRST_OF_CLASS] * len(actuators)
for n in range(0, len(feedback_sensor)):
title = "Time Response Signal Sensor " + feedback_sensor[n]
self.plot_array[n].set_title(title)
if len(feedback_sensor) < len(self.plot_array):
title = "No more sensors"
self.plot_array[-1].set_title(title)
shut_down_signal = 0
shut_mess = CM(shut_down_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
mode = PM(circulator_mode,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY, _SOURCE)
for pump in pumps_of_circuit:
if pump not in circulators:
print(circulator_mode)
interface.setPumpControlMode(pump, mode)
interface.stopPump(pump)
time.sleep(0.2)
print("Pump ", pump, "has been stopped")
full_power_signal = 100
full_power = CM(full_power_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
print(circulators)
for pump in circulators:
interface.startPump(pump)
interface.setPumpControlMode(pump, mode)
interface.setPumpSetpoint(pump, full_power)
time.sleep(0.2)
print("Pump ", pump, "was started")
start_time = time.time()
counter_time = time.time()
signal.signal(signal.SIGTERM, self.signal_term_handler)
while (1):
try:
stop_time = time.time()
if (not self.work_q.empty()):
received_setpoint = self.work_q.get()
setpoint = [float(n) for n in received_setpoint]
self.n = 0
self.threshold = [_FIRST_OF_CLASS] * len(feedback_sensor)
print("Control Thread {0} running".format(process_ID))
for n in range(_FIRST_OF_CLASS, len(feedback_sensor)):
print(n)
#feedback_value[n] = 1
feedback_value[n] = interface.getThermalPower(
feedback_sensor[n]).value
if not isinstance(feedback_value[n], float):
feedback_value[n] = 0 # --->>> really bad though
print(
"feedback taken from sensor {0} with setpoint {1} is kW {2}"
.format(feedback_sensor[n], setpoint[n],
feedback_value[n]))
print("The integral is {0} and the actuator signal is {1}".
format(integral[n], actuator_signal[n]))
print("Setpoint {0} was sent to actuator {1}".format(
actuator_signal[n], actuators[n]))
#print("The integral error is ", integral[n])
#print("The actuator signal is ", actuator_signal[n])
#print("Setpoint {0} was sent to actuator {1}".format(actuator_signal[n], actuators[n]))
self.ydata[n].append(
feedback_value[n]) # Save as previous error.
self.xdata[n].append(time.time() - start_time)
#feedback_value[n] = 0
self.update_line()
if stop_time - counter_time > _CONTROL_TIME:
print("I am actuating")
for n in range(_FIRST_OF_CLASS, len(feedback_sensor)):
error_value[n] = setpoint[n] - feedback_value[
n] # Calculate the error
integral[n] = integral[n] + ki * error_value[
n] # - windup_corrector[n] # Calculate integral
integral[n] = self.anti_windup(integral[n])
print("The integral error is ", integral[n])
actuator_signal[n] = integral[n]
actuator_signal[n] = self.saturation(
actuator_signal[n])
print("The actuator signal is ", actuator_signal[n])
CompositMess[n] = CM(actuator_signal[n],
time.time() * _MULTIPLIER, _ZERO,
_ZERO, _VALIDITY, _SOURCE)
interface.setMaxFlowLimit(actuators[n],
CompositMess[n])
counter_time = time.time()
time.sleep(_ACQUISITION_TIME)
except (KeyboardInterrupt, SystemExit):
for circulator in circulators:
interface.stopPump(pump)
print("Circulator {0} is now at zero flow".format(
circulator))
sys.exit(0)
except Exception:
'''there is the condition because it will keep except'''
self.shut_down_routine(pumps_of_circuit, valves, interface)
def PID_controller(self, inputs, process_ID, queue):
inputs = pickle.loads(inputs)
print(inputs)
inputs = {
'controller_name':
"['Source_1BH4']['Sink_1DL3']N",
'description':
'creator',
'gain':
'1',
'kp':
'5',
'ki':
'8',
'kd':
'0',
'ki_valve':
'0.1',
'pumps_of_circuit': ['Pump_Bay4', 'Pump_Bay3'],
'circulator': ['Pump_Bay4'],
'circulator_mode':
'0',
'actuator': ['Pump_Bay4'],
'setpoint': [4],
'feedback_sensor': ['Bay_3'],
'valves': [
'Bay_4L-Busbar_2R', 'Bay_4H-Busbar_1F', 'Bay_3H-Busbar_2F',
'Bay_3L-Busbar_1R'
]
}
print("Controller Constant Flow Started")
interface = syslab.HeatSwitchBoard(_BUILDING_NAME)
plt.show()
plt.ion()
self.xdata = [[], []]
self.ydata = [[], []]
f, (self.ax1, self.ax2) = plt.subplots(2, 1)
self.ax1.set_xlim(0, 100)
self.ax1.set_ylim(-50, +50)
self.ax2.set_xlim(0, 100)
self.ax2.set_ylim(-50, +50)
self.line, = self.ax1.plot(self.xdata[0], self.ydata[0], 'r-')
self.line2, = self.ax2.plot(self.xdata[1] * 2, self.ydata[1], 'b-')
self.line.set_xdata(self.xdata)
self.line.set_ydata(self.ydata)
self.plot_array = [self.ax1, self.ax2]
self.line_array = [self.line, self.line2]
self.thresholds = []
start_time = time.time()
self.n = 0
self.work_q = queue
first_call = True
stopper = False
active_circuit = True
print("Control Process {0} started".format(process_ID))
print("I am process", process_ID)
self.process_ID = process_ID
max = 100
min = 0
valve_reg = False
pumps_of_circuit = inputs["pumps_of_circuit"]
kp = float(inputs["kp"])
kd = float(inputs["kd"])
ki = float(inputs["ki"])
ki_valve = float(inputs["ki_valve"])
gain = float(inputs["gain"])
circulators = inputs["circulator"]
circulator_mode = int(inputs["circulator_mode"])
print(circulator_mode)
feedback_sensor = inputs["feedback_sensor"]
actuators = inputs["actuator"]
valves = inputs["valves"]
setpoint = [float(n) for n in inputs["setpoint"]]
feedback_value = [_BEGIN_WITH] * len(feedback_sensor)
time_response = [_BEGIN_WITH] * len(feedback_sensor)
derivative = [_BEGIN_WITH] * len(feedback_sensor)
integral = [_BEGIN_WITH] * len(feedback_sensor)
integral[_BEGIN_WITH] = _MIN_SAT_PUMP
integral_valve = [_BEGIN_WITH] * len(feedback_sensor)
windup_corrector = [_BEGIN_WITH] * len(feedback_sensor)
controller_output = [_BEGIN_WITH] * len(actuators)
controller_output_percentage = [_BEGIN_WITH] * len(actuators)
pre_error = [_BEGIN_WITH] * len(feedback_sensor)
actuator_signal = [_BEGIN_WITH] * len(actuators)
actuator_signal_valve = [_BEGIN_WITH] * len(actuators)
error_value = [_BEGIN_WITH] * len(feedback_sensor)
self.thresholds = [_BEGIN_WITH] * len(feedback_sensor)
CompositMess = [_BEGIN_WITH] * len(actuators)
for n in range(0, len(feedback_sensor)):
title = "Time Response Signal Sensor " + feedback_sensor[n]
self.plot_array[n].set_title(title)
if len(feedback_sensor) < len(self.plot_array):
title = "No more sensors"
self.plot_array[-1].set_title(title)
shut_down_signal = 0
shut_mess = CM(shut_down_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
mode = PM(circulator_mode,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY, _SOURCE)
for pump in pumps_of_circuit:
if pump not in circulators:
print(circulator_mode)
interface.setPumpControlMode(pump, mode)
interface.stopPump(pump)
time.sleep(0.2)
print("Pump ", pump, "has been stopped")
half_power_signal = 50
half_power = CM(half_power_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
print(circulators)
n = 0
for pump in circulators:
interface.startPump(pump)
interface.setPumpControlMode(pump, mode)
interface.setPumpSetpoint(pump, half_power)
time.sleep(0.2)
print("Pump ", pump, "was started")
n += 1
start_time = time.time()
counter_time = time.time()
counter_time_valve = time.time()
signal.signal(signal.SIGTERM, self.signal_term_handler)
while (1):
#try:
stop_time = time.time()
if (not self.work_q.empty()):
received_setpoint = self.work_q.get()
setpoint = [float(n) for n in received_setpoint]
self.n = 0
self.threshold = [_BEGIN_WITH] * len(feedback_sensor)
print("Control Thread {0} running".format(process_ID))
for n in range(_BEGIN_WITH, len(feedback_sensor)):
print(n)
#feedback_value[n] = 1
feedback_value[n] = interface.getThermalPower(
feedback_sensor[n]).value
if not isinstance(feedback_value[n], float):
feedback_value[n] = 0 # --->>> really bad though
print(
"feedback taken from sensor {0} with setpoint {1} is kW {2}"
.format(feedback_sensor[n], setpoint[n],
feedback_value[n]))
print("The error is {0}".format(error_value[n]))
print(
"The integral for pump is {0} and the actuator signal for pump is {1}"
.format(integral[n], actuator_signal[n]))
print("The actuator signal for valve is ",
actuator_signal_valve[n])
print("Setpoint {0} was sent to actuator {1}".format(
actuator_signal[n], actuators[n]))
#print("The integral error is ", integral[n])
#print("The actuator signal is ", actuator_signal[n])
#print("Setpoint {0} was sent to actuator {1}".format(actuator_signal[n], actuators[n]))
self.ydata[n].append(
feedback_value[n]) # Save as previous error.
self.xdata[n].append(time.time() - start_time)
#feedback_value[n] = 0
self.update_line()
if stop_time - counter_time > _CONTROL_TIME:
if not valve_reg:
print("I am actuating with pump")
for n in range(_BEGIN_WITH, len(feedback_sensor)):
error_value[n] = setpoint[n] - feedback_value[
n] # Calculate the error
integral[n] = integral[n] + ki * error_value[
n] # - windup_corrector[n] # Calculate integral
integral[n] = self.anti_windup(integral[n], "pump")
print("The integral error is ", integral[n])
actuator_signal[n] = kp * error_value[n] + integral[n]
actuator_signal[n] = self.saturation(
actuator_signal[n], "pump")
print("The actuator signal for pump is ",
actuator_signal[n])
#actuator_signal[n] = self.pump_setpoint_converter(actuator_signal[n])
CompositMess[n] = CM(actuator_signal[n],
time.time() * _MULTIPLIER, _ZERO,
_ZERO, _VALIDITY, _SOURCE)
interface.setPumpSetpoint(actuators[n],
CompositMess[n])
counter_time = time.time()
'''if (abs(error_value[n]) > _TOLERANCE) and (actuator_signal[n] <= _MIN_SAT_PUMP) and not valve_reg:
if first_call:
print("30s start from here")
start_time = time.time()
first_call = False
if (time.time() - start_time) >= 30:
print("I am heeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeer")
integral_valve[0] = interface.getValvePosition("Bay_3L-Busbar_1R").value
valve_reg = True
else:
counter_time = time.time()
first_call = True'''
'''
if valve_reg:
print("I am actuating with valve")
for n in range(_BEGIN_WITH, len(feedback_sensor)):
error_value[n] = setpoint[n] - feedback_value[n] # Calculate the error
integral_valve[n] = integral_valve[n] + ki_valve * error_value[n] # - windup_corrector[n] # Calculate integral
integral_valve[n] = self.anti_windup(integral_valve[n], "valve")
print("The valve integral error is ", integral_valve[n])
actuator_signal_valve[n] = integral_valve[n]
actuator_signal_valve[n] = self.saturation(actuator_signal_valve[n], "valve")
print("The actuator signal for valve is ", actuator_signal_valve[n])
CompositMess_Valve = CM(actuator_signal_valve[n], time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY, _SOURCE)
interface.setValvePosition("Bay_3L-Busbar_1R", CompositMess_Valve)
valve_position = interface.getValvePosition("Bay_3L-Busbar_1R").value
#counter_time = time.time()
if ((error_value[n] > _TOLERANCE) and (actuator_signal[n] <= _MIN_SAT_PUMP) and (valve_position >= 0.9)):
valve_reg = False
first_call = True
integral[_BEGIN_WITH] = _MIN_SAT_PUMP
else:
counter_time = time.time()'''
time.sleep(_ACQUISITION_TIME)
def PID_controller(self, inputs, process_ID, queue):
inputs = pickle.loads(inputs)
print(inputs)
inputs = {
'controller_name':
"['Source_1BH4']['Sink_1DL3']['Sink_1DL2']N",
'description':
'creator',
'gain':
'1',
'kp':
'0',
'ki':
'0.1',
'kd':
'0',
'ki_valve':
'0.1',
'pumps_of_circuit': ['Pump_Bay4', 'Pump_Bay3'],
'circulator': ['Pump_Bay4'],
'circulator_mode':
'4',
'actuator': ['Bay_2L-Busbar_1R', 'Bay_3L-Busbar_1R'],
'setpoint': [2, 4],
'feedback_sensor': ['Bay_2', 'Bay_3'],
'valves': [
'Bay_4L-Busbar_2R', 'Bay_4H-Busbar_1F', 'Bay_3H-Busbar_2F',
'Bay_3L-Busbar_1R'
],
'sources_meters': ['Bay_4']
}
print("Controller Constant Pressure Started")
interface = syslab.HeatSwitchBoard(_BUILDING_NAME)
plt.show()
plt.ion()
self.xdata = [[], []]
self.ydata = [[], []]
f, (self.ax1, self.ax2) = plt.subplots(2, 1)
self.ax1.set_xlim(0, 100)
self.ax1.set_ylim(-50, +50)
self.ax2.set_xlim(0, 100)
self.ax2.set_ylim(-50, +50)
self.line, = self.ax1.plot(self.xdata[0], self.ydata[0], 'r-')
self.line2, = self.ax2.plot(self.xdata[1] * 2, self.ydata[1], 'b-')
self.line.set_xdata(self.xdata)
self.line.set_ydata(self.ydata)
self.plot_array = [self.ax1, self.ax2]
self.line_array = [self.line, self.line2]
self.thresholds = []
start_time = time.time()
self.n = 0
self.work_q = queue
first_call = True
print("Control Process {0} started".format(process_ID))
print("I am process", process_ID)
#inputs = pickle.loads(inputs)
print(inputs)
self.process_ID = process_ID
max = 100
min = 0
pumps_of_circuit = inputs["pumps_of_circuit"]
kp = float(inputs["kp"])
kd = float(inputs["kd"])
ki = float(inputs["ki"])
gain = float(inputs["gain"])
circulators = inputs["circulator"]
circulator_mode = int(inputs["circulator_mode"])
print(circulator_mode)
feedback_sensor = inputs["feedback_sensor"]
actuators = inputs["actuator"]
sources_meters = inputs['sources_meters']
valves = inputs["valves"]
setpoint = [float(n) for n in inputs["setpoint"]]
feedback_value = [float(_BEGIN_WITH)] * len(feedback_sensor)
time_response = [_BEGIN_WITH] * len(feedback_sensor)
derivative = [_BEGIN_WITH] * len(feedback_sensor)
integral = [float(_BEGIN_WITH)] * len(feedback_sensor)
half = 0.5
half = CM(half,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY, _SOURCE)
for actuator in actuators:
interface.setValvePosition(actuator, half)
for n in range(0, len(integral)):
integral[n] = 0.5 # interface.getValvePosition(actuators[n]).value
windup_corrector = [_BEGIN_WITH] * len(feedback_sensor)
controller_output = [float(_BEGIN_WITH)] * len(actuators)
controller_output_percentage = [_BEGIN_WITH] * len(actuators)
pre_error = [_BEGIN_WITH] * len(feedback_sensor)
actuator_signal = [float(_BEGIN_WITH)] * len(actuators)
error_value = [float(_BEGIN_WITH)] * len(feedback_sensor)
self.thresholds = [_BEGIN_WITH] * len(feedback_sensor)
CompositMess = [_BEGIN_WITH] * len(actuators)
historical_position = [_BEGIN_WITH] * len(actuators)
'''
n = 0
for actuator in actuators:
controller_output[n] = interface.getValvePosition(actuator).value
n += 1'''
for n in range(0, len(feedback_sensor)):
title = "Time Response Signal Sensor " + feedback_sensor[n]
self.plot_array[n].set_title(title)
if len(feedback_sensor) < len(self.plot_array):
title = "No more sensors"
self.plot_array[-1].set_title(title)
shut_down_signal = 0
shut_mess = CM(shut_down_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
mode = PM(circulator_mode,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY, _SOURCE)
for pump in pumps_of_circuit:
if pump not in circulators:
print(circulator_mode)
interface.stopPump(pump)
time.sleep(0.2)
print("Pump ", pump, "has been stopped")
full_power_signal = 100
flow_limit_signal = 9
full_power = CM(full_power_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
flow_limit = CM(flow_limit_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
#optimum_pressure = self.find_optimum_pressure(circulators, interface, sources_meters)
optimum_pressure = 100
optimum_pressure = CM(optimum_pressure,
time.time() * _MULTIPLIER, _ZERO, _ZERO,
_VALIDITY, _SOURCE)
for pump in circulators:
interface.startPump(pump)
interface.setPumpControlMode(pump, mode)
interface.setPumpSetpoint(pump, optimum_pressure)
#interface.setMaxFlowLimit(pump, flow_limit)
time.sleep(0.2)
print("Pump ", pumps_of_circuit[n], "was started")
time.sleep(12.5)
start_time = time.time()
integral_start = time.time()
proportional_start = time.time()
signal.signal(signal.SIGTERM, self.signal_term_handler)
counter = 0
counter_min = 0
check_valves = True
while (1):
#try:
stop_time = time.time()
if (not self.work_q.empty()):
received_setpoint = self.work_q.get()
setpoint = [float(n) for n in received_setpoint]
self.n = 0
self.threshold = [_BEGIN_WITH] * len(feedback_sensor)
print("Control Thread {0} running".format(process_ID))
for n in range(_BEGIN_WITH, len(feedback_sensor)):
print(n)
#feedback_value[n] = 1
feedback_value[n] = float(
interface.getThermalPower(feedback_sensor[n]).value)
#print(float(interface.getThermalPower(feedback_sensor[n]).value))
if not isinstance(feedback_value[n], float):
feedback_value[n] = 0 # --->>> really bad though
print("It was nan")
print("The Pumps are running at setpoint ",
optimum_pressure.value)
print(
"feedback taken from sensor {0} with setpoint {1} is kW {2}"
.format(feedback_sensor[n], setpoint[n],
feedback_value[n]))
print("The actuator signal is {0}".format(actuator_signal[n]))
print("Setpoint {0} was sent to actuator {1}".format(
actuator_signal[n], actuators[n]))
print("The control output for ", actuators[n], " is ",
controller_output[n])
print("The integral for ", actuators[n], " is ", integral[n])
self.ydata[n].append(
feedback_value[n]) # Save as previous error.
self.xdata[n].append(time.time() - start_time)
#feedback_value[n] = 0
print(feedback_value[n])
historical_position[n] = interface.getValvePosition(
actuators[n]).value
self.update_line()
if stop_time - proportional_start > _PROPORTIONAL_TIME:
for n in range(_BEGIN_WITH, len(feedback_sensor)):
error_value[n] = setpoint[n] - feedback_value[
n] # Calculate the error
#print("The integral error is ", integral[n])
#controller_output[n] = kp * error_value[n] + ki * integral[n]
'''this below is the real PID action as the controller action is really related to the errorr'''
print("The Pumps are running at setpoint ",
optimum_pressure)
print("this is the error ", error_value[n])
integral[n] = integral[n] + ki * error_value[
n] # - windup_corrector[n] # Calculate integral
integral[n] = self.anti_windup(integral[n])
print("The integral for ", actuators[n], " is ",
integral[n])
#controller_output[n] = self.saturation(controller_output[n] + kp * error_value[n] + integral[n])
controller_output[n] = kp * error_value[n] + integral[n]
print("The proportional action is ", kp * error_value[n])
print("The integral action is ", integral[n])
print("this is the controller output ",
controller_output[n])
controller_output = self.apply_corrector_factor(
historical_position, controller_output, ki)
integral = controller_output
#time.sleep(2)
for n in range(_BEGIN_WITH, len(feedback_sensor)):
actuator_signal[n] = self.saturation(controller_output[n])
print(
"The actuator signal is corrected with corrector is ",
actuator_signal[n])
CompositMess[n] = CM(actuator_signal[n],
time.time() * _MULTIPLIER, _ZERO,
_ZERO, _VALIDITY, _SOURCE)
interface.setValvePosition(actuators[n], CompositMess[n])
proportional_start = time.time()
#if (sum(controller_output) > _MAX_SUM):
if check_valves:
for output in integral:
if output >= _MAX_SAT:
counter += 1
elif output <= _MIN_SAT:
counter_min += 1
print("counter ", counter)
print("counter_min ", counter_min)
if (counter >= 1 or counter_min >= 1):
check_valves = False
if first_call:
print("60s start from here")
start_time = time.time()
first_call = False
if (time.time() - start_time) >= 50:
print("I am adjusting pump setpoint")
for pump in circulators:
optimum_pressure = optimum_pressure.value + counter * _PUMP_VARIATION - counter_min * _PUMP_VARIATION
if optimum_pressure > 100:
optimum_pressure = 100
elif optimum_pressure < 10:
optimum_pressure = 10
optimum_pressure = CM(optimum_pressure,
time.time() * _MULTIPLIER, _ZERO,
_ZERO, _VALIDITY, _SOURCE)
print("Pump {0} was reduced to {1}".format(
pump, optimum_pressure))
interface.setPumpSetpoint(pump, optimum_pressure)
start_time = time.time()
counter = 0
counter_min = 0
check_valves = True
else:
first_call = True
#if stop_time - integral_start > _INTEGRAL_TIME:
# for n in range(_BEGIN_WITH, len(feedback_sensor)):
# error_value[n] = setpoint[n] - feedback_value[n] # Calculate the error
# integral[n] = integral[n] + ki * error_value[n] # - windup_corrector[n] # Calculate integral
# integral[n] = self.anti_windup(integral[n])
# controller_output[n] = controller_output[n] + integral[n]
# print("The integral action is ", integral[n])
# print("this is the controller output ", controller_output[n])
# '''this below is the real PID action as the controller action is really related to the errorr'''
# actuator_signal[n] = controller_output[n]
# actuator_signal[n] = self.saturation(actuator_signal[n])
# print("The actuator signal is ", actuator_signal[n])
# CompositMess[n] = CM(actuator_signal[n], time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY, _SOURCE)
# interface.setValvePosition(actuators[n], CompositMess[n])
# integral_start = time.time()'''
time.sleep(_ACQUISITION_TIME)
"Bay_3L-Busbar_1R", "Bay_3L-Busbar_2R", "Bay_3L-Busbar_B",
"Bay_4L-Busbar_2R", "Bay_4L-Busbar_1R", "Bay_4H-Busbar_B",
"Bay_4H-Busbar_2F", "Bay_4H-Busbar_1F", "Bay_4L-Busbar_B",
"Bay_5L-Busbar_1R", "Bay_5L-Busbar_2R", "Bay_5H-Busbar_B",
"Bay_5H-Busbar_1F", "Bay_5H-Busbar_2F", "Bay_5L-Busbar_B",
"Bay_6L-Busbar_1R", "Bay_6L-Busbar_2R", "Bay_6H-Busbar_B",
"Bay_6H-Busbar_1F", "Bay_6H-Busbar_2F", "Bay_6L-Busbar_B",
"Bay_7H-Busbar_1F", "Bay_7H-Busbar_2F", "Bay_7L-Busbar_1R",
"Bay_7L-Busbar_2R", "Bay_8H-Busbar_1F", "Bay_8H-Busbar_2F",
"Bay_8L-Busbar_1R", "Bay_8L-Busbar_2R"
]
pumps = [
"Pump_Bay2", "Pump_Bay3", "Pump_Bay4", "Pump_Bay5", "Pump_Bay6",
"Pump_Bay7", "Pump_Bay8"
]
interface = syslab.HeatSwitchBoard(_BUILDING_NAME)
CompositMess_Shut = CM(_TURN_ME_OFF,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
mode = PM(_CONSTANT_CURVE,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY, _SOURCE)
for pump in pumps:
interface.stopPump(pump)
interface.setPumpControlMode(pump, mode)
time.sleep(0.2)
for valve in valves:
print("setpoint at 0 for valve", valve)
interface.setValvePosition(valve, CompositMess_Shut)
time.sleep(0.2)
def PID_controller(self, inputs, process_ID, queue):
inputs = pickle.loads(inputs)
print(inputs)
#inputs = {'controller_name': "['Source_1BH4']['Sink_1DL3']N", 'description': 'creator',
# 'gain': '1', 'kp': '4', 'ki': '7', 'kd': '0', 'ki_valve': '0.07', 'pumps_of_circuit': ['Pump_Bay4', 'Pump_Bay3'],
# 'circulator': ['Pump_Bay4'], 'circulator_mode': '0', 'actuator': ['Pump_Bay4'], 'setpoint': [4],
# 'feedback_sensor': ['Bay_3'], 'valves': ['Bay_4L-Busbar_2R', 'Bay_4H-Busbar_1F', 'Bay_3H-Busbar_2F', 'Bay_3L-Busbar_1R'],
# 'secondary_actuators': "Bay_3L-Busbar_1R"}
print("Controller Constant Flow Started")
interface = syslab.HeatSwitchBoard(_BUILDING_NAME)
plt.show()
plt.ion()
self.xdata = []
self.ydata = []
f, self.ax1 = plt.subplots(1, 1)
self.ax1.set_xlim(0, 100)
self.ax1.set_ylim(-50, +50)
self.ax1.set_xlabel('Time [s]', fontsize=10)
self.ax1.set_ylabel('Thermal Power [kW]', fontsize=10)
self.line, = self.ax1.plot(self.xdata, self.ydata, 'b-')
self.line.set_xdata(self.xdata)
self.line.set_ydata(self.ydata)
self.plot_array = self.ax1
self.line_array = self.line
control_time = 25
start_time = time.time()
self.n = 0
self.work_q = queue
first_call = True
stopper = False
active_circuit = True
print("Control Process {0} started".format(process_ID))
print("I am process", process_ID)
self.process_ID = process_ID
max = 100
min = 0
valve_reg = False
pumps_of_circuit = inputs["pumps_of_circuit"]
kp = float(inputs["kp"])
kd = float(inputs["kd"])
ki = float(inputs["ki"])
ki_valve = float(inputs["ki_valve"])
gain = float(inputs["gain"])
circulators = inputs["circulator"]
circulator_mode = int(inputs["circulator_mode"])
circulator_mode_P = 4
print(circulator_mode)
feedback_sensor = inputs["feedback_sensor"]
feedback_sensor = feedback_sensor[_BEGIN_WITH]
actuator_valve = inputs['secondary_actuators']
actuators = inputs["actuator"]
valves = inputs["valves"]
setpoint = [float(n) for n in inputs["setpoint"]]
setpoint = setpoint[_BEGIN_WITH]
feedback_value = 0
integral = _MIN_SAT_PUMP
integral_valve = 0
controller_output = [_BEGIN_WITH] * len(actuators)
controller_output_percentage = [_BEGIN_WITH] * len(actuators)
actuator_signal = 0
actuator_signal_valve = 0
error_value = 0
CompositMess = 0
title = "Time Response Signal Sensor " + feedback_sensor
self.plot_array.set_title(title)
shut_down_signal = 0
shut_mess = CM(shut_down_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
mode_C = PM(circulator_mode,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
mode_P = PM(circulator_mode_P,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
for pump in pumps_of_circuit:
if pump not in actuators:
print(circulator_mode)
interface.setPumpControlMode(pump, mode_C)
interface.stopPump(pump)
time.sleep(0.2)
print("Pump ", pump, "has been stopped")
full_power_signal = 100
full_power = CM(full_power_signal,
time.time() * _MULTIPLIER, _ZERO, _ZERO, _VALIDITY,
_SOURCE)
print(actuators)
n = 0
for pump in actuators:
interface.startPump(pump)
interface.setPumpControlMode(pump, mode_C)
interface.setPumpSetpoint(pump, full_power)
time.sleep(0.2)
print("Pump ", pump, "was started")
n += 1
start_time = time.time()
counter_time = time.time()
counter_time_valve = time.time()
signal.signal(signal.SIGTERM, self.signal_term_handler)
time.sleep(30)
while (1):
try:
stop_time = time.time()
if (not self.work_q.empty()):
received_setpoint = self.work_q.get()
setpoint = [float(i) for i in received_setpoint]
setpoint = setpoint[_BEGIN_WITH]
self.n = 0
print("Control Thread {0} running".format(process_ID))
feedback_value = interface.getThermalPower(
feedback_sensor).value
if not isinstance(feedback_value, float):
feedback_value = 0 # --->>> really bad though
print(
"feedback taken from sensor {0} with setpoint {1} is kW {2}"
.format(feedback_sensor, setpoint, feedback_value))
print("The error is {0}".format(setpoint - feedback_value))
print(
"The integral for pump is {0} and the actuator signal for pump is {1}"
.format(integral, actuator_signal))
print("The actuator signal for valve is ",
actuator_signal_valve)
print("Setpoint {0} was sent to actuator {1}".format(
actuator_signal, actuators))
print("The current FLow is ",
interface.getFlow(feedback_sensor).value)
print("The current RPM is ",
interface.getPumpRPM("Pump_Bay4").value)
print("I am actuating with valve ", valve_reg)
self.ydata.append(feedback_value) # Save as previous error.
self.xdata.append(time.time() - start_time)
#feedback_value[n] = 0
self.update_line()
if stop_time - counter_time > control_time:
if not valve_reg:
print("I am actuating with pump")
error_value = setpoint - feedback_value # Calculate the error
if abs(error_value) > _FEEDFORWARD_KICK:
integral = self.feedforward(
interface, setpoint, feedback_sensor,
actuators)
actuator_signal = integral
CompositMess = CM(actuator_signal,
time.time() * _MULTIPLIER, _ZERO,
_ZERO, _VALIDITY, _SOURCE)
for actuator in actuators:
interface.setPumpSetpoint(
actuator, CompositMess)
else:
integral = integral + ki * error_value # Calculate integral
integral = self.anti_windup(integral, _PUMP)
print("The integral error is ", integral)
actuator_signal = kp * error_value + integral
actuator_signal = self.saturation(
actuator_signal, _PUMP)
print("The actuator signal for pump is ",
actuator_signal)
CompositMess = CM(actuator_signal,
time.time() * _MULTIPLIER, _ZERO,
_ZERO, _VALIDITY, _SOURCE)
for actuator in actuators:
interface.setPumpSetpoint(
actuator, CompositMess)
counter_time = time.time()
if ((error_value < _TOLERANCE)
and (actuator_signal <= _MIN_SAT_PUMP)
and not valve_reg):
print(
"I am cheking if is the case of using the valves"
)
if first_call:
print("60s start from here")
start_time = time.time()
first_call = False
if (time.time() - start_time) >= control_time * 2:
print("Time to use the valve")
integral_valve = interface.getValvePosition(
actuator_valve).value
valve_reg = True
control_time = 50
pressure_setpoint = 0
pressure_setpoint = CM(
pressure_setpoint,
time.time() * _MULTIPLIER, _ZERO, _ZERO,
_VALIDITY, _SOURCE)
for actuator in actuators:
interface.setPumpControlMode(
actuator, mode_P)
print("Pump {0} was set to {1}".format(
actuator, mode_P))
time.sleep(0.2)
interface.setPumpSetpoint(
actuator, pressure_setpoint)
else:
counter_time = time.time()
first_call = True
if valve_reg:
print("I am actuating with valve")
error_value = setpoint - feedback_value # Calculate the error
integral_valve = integral_valve + ki_valve * error_value # Calculate integral
integral_valve = self.anti_windup(
integral_valve, _VALVE)
print("The valve integral error is ", integral_valve)
actuator_signal_valve = integral_valve
actuator_signal_valve = self.saturation(
actuator_signal_valve, _VALVE)
print("The actuator signal for valve is ",
actuator_signal_valve)
CompositMess_Valve = CM(actuator_signal_valve,
time.time() * _MULTIPLIER,
_ZERO, _ZERO, _VALIDITY,
_SOURCE)
interface.setValvePosition(actuator_valve,
CompositMess_Valve)
valve_position = interface.getValvePosition(
actuator_valve).value
#counter_time = time.time()
if ((error_value > _TOLERANCE)
and (actuator_signal <= _MIN_SAT_PUMP)
and (valve_position >= 0.9)):
valve_reg = False
control_time = 25
first_call = True
curve_setpoint = CM(_MIN_SAT_PUMP,
time.time() * _MULTIPLIER,
_ZERO, _ZERO, _VALIDITY,
_SOURCE)
for actuator in actuators:
interface.setPumpControlMode(actuator, mode_C)
time.sleep(0.2)
interface.setPumpSetpoint(
actuator, curve_setpoint)
print("Pump {0} was set to {1}".format(
actuator, mode_C))
integral = _MIN_SAT_PUMP
else:
counter_time = time.time()
time.sleep(_ACQUISITION_TIME)
except (KeyboardInterrupt, SystemExit):
for circulator in circulators:
interface.stopPump(pump)
print("Circulator {0} is now at zero flow".format(
circulator))
sys.exit(0)
import syslab
import time
import matplotlib.pyplot as plt
import syslab.core.datatypes.CompositeMeasurement as CM
import syslab.core.datatypes.HeatCirculationPumpMode as PM
import pandas as pd
import csv
_MULTIPLIER = 1000000
_SOURCE = 1
_VALIDITY = 1
_ZERO = 0
_N = 10
interface = syslab.HeatSwitchBoard("716-h1")
pump = "Pump_Bay4"
constant_pressure = 3
start_time = time.time()
pump_head_response = []
pump_rpm_response = []
pump_flow_response = []
sensor_power_response = []
sensor_flow_response = []
total_flow_response = []
total_power_response = []
sensor_power_response_2 = []
sensor_flow_response_2 = []
valve_position = []
valve_position_2 = []
time_passed = []