Update PID Autotune Code
parent
0380c8d30b
commit
c06491a8b2
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@ -6,6 +6,8 @@ import socket
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import json
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import time
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import signal
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from driver.kirdy_async import Kirdy
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import asyncio
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# Based on hirshmann pid-autotune libiary
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# See https://github.com/hirschmann/pid-autotune
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@ -219,92 +221,96 @@ class PIDAutotune:
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return True
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return False
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tec_power_up = {
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"thermostat_cmd": "PowerUp",
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}
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tec_power_down = {
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"thermostat_cmd": "PowerDown",
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}
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async def main():
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"""
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PID AutoTune Tools for Kirdy
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The obtained temperature works best at the target temperature specified.
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Before running PID AutoTune, please
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1. Secure the laser diode onto the LD adapter and copper heat sink
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2. Make sure Kirdy has warmed up and reached thermal equilibrium state
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In case of PID Autotune Failure, you can
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1. Run the PID Autotune again
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2. Or increase the lookback period
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3. Or increase the sampling rate
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"""
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kirdy_get_status_report = {
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"device_cmd": "GetStatusReport",
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}
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tec_get_tec_status = {
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"thermostat_cmd": "GetTecStatus",
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}
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tec_pid_dis_engage = {
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"thermostat_cmd": "SetPidDisEngage",
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}
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tec_set_i_out = {
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"tec_set_i": 0.0,
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}
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# Kirdy IP and Port Number
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HOST = "192.168.1.132"
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PORT = 1337
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SAMPLING_RATE = 16.67
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def send_cmd(input, socket):
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socket.send(bytes(json.dumps(input), "UTF-8"))
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time.sleep(0.5)
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def read_cmd(input, socket):
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socket.send(bytes(json.dumps(input), "UTF-8"))
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data = socket.recv(1024).decode('utf8')
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return json.loads(data)
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def main():
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# Target temperature of the autotune routine, celsius
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target_temperature = 20
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# Value by which output will be increased/decreased from zero, amps
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output_step = 1
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# Reference period for local minima/maxima, seconds
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lookback = 1
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lookback = 2.0
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# Determines by how much the input value must
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# overshoot/undershoot the setpoint, celsius
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noiseband = 1.5
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kirdy = Kirdy()
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await kirdy.start_session(host='192.168.1.128', port=1337, timeout=0.25)
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await kirdy.laser.set_power_on(False)
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await kirdy.laser.set_i(0)
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await kirdy.thermostat.set_power_on(False)
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await kirdy.thermostat.set_constant_current_control_mode()
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await kirdy.thermostat.set_tec_i_out(0)
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await kirdy.thermostat.clear_alarm()
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class SignalHandler:
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KEEP_PROCESSING = True
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def __init__(self):
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signal.signal(signal.SIGINT, self.exit_gracefully)
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signal.signal(signal.SIGTERM, self.exit_gracefully)
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def exit_gracefully(self, signum, frame):
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self.KEEP_PROCESSING = False
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signal_handler = SignalHandler()
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await kirdy.device.set_active_report_mode(False)
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# Configure the Thermistor Parameters
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await kirdy.thermostat.set_sh_beta(3900)
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await kirdy.thermostat.set_sh_r0(10.0 * 1000)
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await kirdy.thermostat.set_sh_t0(25)
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# Set a large enough temperature range so that it won't trigger overtemperature protection
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await kirdy.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
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await kirdy.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
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await kirdy.thermostat.set_tec_max_i_pos(output_step)
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await kirdy.thermostat.set_tec_max_i_neg(output_step)
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# The Polling Rate of Temperature Adc is equal to the PID Update Interval
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await kirdy.thermostat.config_temp_adc_filter("Sinc5Sinc1With50hz60HzRejection", "F16SPS")
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settings = await kirdy.device.get_settings_summary()
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sampling_rate = settings["thermostat"]["temp_adc_settings"]["rate"]
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print("Settings: {0}".format(settings))
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tuner = PIDAutotune(target_temperature, output_step,
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lookback, noiseband, 1/SAMPLING_RATE)
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lookback, noiseband, 1/sampling_rate)
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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await kirdy.thermostat.set_power_on(True)
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def signal_handler(sig, frame):
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send_cmd(tec_power_down, s)
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s.close()
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exit()
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signal.signal(signal.SIGINT, signal_handler)
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s.connect((HOST, PORT))
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send_cmd(tec_pid_dis_engage, s)
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send_cmd(tec_power_down, s)
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send_cmd(tec_power_up, s)
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while True:
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status_report = read_cmd(kirdy_get_status_report, s)
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while True and signal_handler.KEEP_PROCESSING:
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status_report = await kirdy.device.get_status_report()
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temperature = status_report["tec"]["temperature"] - 273.15
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print(temperature)
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temperature = status_report["thermostat"]["temperature"]
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ts = status_report['ts']
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print("Ts: {0} Current Temperature: {1} degree".format(ts, temperature))
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if (tuner.run(temperature, ts / 1000.0)):
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print(tuner._state)
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break
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tuner_out = tuner.output()
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tec_set_i_out["tec_set_i"] = float(tuner_out * 1000.0)
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send_cmd(tec_set_i_out, s)
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await kirdy.thermostat.set_tec_i_out(float(tuner_out))
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tec_set_i_out["tec_set_i"] = 0.0
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send_cmd(tec_power_down, s)
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s.close()
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await kirdy.thermostat.set_tec_i_out(0)
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await kirdy.thermostat.set_power_on(False)
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await kirdy.end_session()
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if __name__ == "__main__":
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main()
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asyncio.run(main())
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