pytec: autotune formatting
parent
aab0d6d25c
commit
9f872c0113
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@ -2,8 +2,8 @@ import math
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import logging
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from time import time
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from collections import deque, namedtuple
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from pytec.client import Client
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from enum import Enum
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from pytec.client import Client
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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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@ -17,12 +17,10 @@ class PIDAutotuneState(Enum):
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STATE_SUCCEEDED = 'succeeded'
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STATE_FAILED = 'failed'
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class PIDAutotune():
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class PIDAutotune():
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PIDParams = namedtuple('PIDParams', ['Kp', 'Ki', 'Kd'])
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PEAK_AMPLITUDE_TOLERANCE = 0.05
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PEAK_AMPLITUDE_TOLERANCE = 0.05
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_tuning_rules = {
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"ziegler-nichols": [0.6, 1.2, 0.075],
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@ -36,19 +34,8 @@ class PIDAutotune():
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def __init__(self, setpoint, out_step=10, lookback=60, noiseband=0.5, sampletime=1.2):
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if setpoint is None:
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raise ValueError('setpoint must be specified')
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# if out_step < 1:
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# raise ValueError('out_step must be greater or equal to 1')
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# if sampletime < 1:
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# raise ValueError('sampletime must be greater or equal to 1')
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# if lookback < sampletime:
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# raise ValueError('lookback must be greater or equal to sampletime')
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# if out_min >= out_max:
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# raise ValueError('out_min must be less than out_max')
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# self._time = time
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# logging = logging.getLogger(type(self).__name__)
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self._inputs = deque(maxlen=round(lookback / sampletime))
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# self._sampletime = sampletime * 1000
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self._setpoint = setpoint
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self._outputstep = out_step
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self._noiseband = noiseband
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@ -65,18 +52,15 @@ class PIDAutotune():
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self._induced_amplitude = 0
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self._Ku = 0
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self._Pu = 0
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def state(self):
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"""Get the current state."""
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return self._state
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def output(self):
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"""Get the last output value."""
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return self._output
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# @property
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def tuning_rules(self):
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"""Get a list of all available tuning rules."""
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return self._tuning_rules.keys()
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@ -90,9 +74,7 @@ class PIDAutotune():
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"""
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divisors = self._tuning_rules[tuning_rule]
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kp = self._Ku * divisors[0]
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# ki = kp / (self._Pu / divisors[1])
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ki = divisors[1] * self._Ku / self._Pu
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# kd = kp * (self._Pu / divisors[2])
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kd = divisors[2] * self._Ku * self._Pu
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return PIDAutotune.PIDParams(kp, ki, kd)
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@ -100,7 +82,8 @@ class PIDAutotune():
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"""To autotune a system, this method must be called periodically.
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Args:
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input_val (float): The input value.
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input_val (float): The temperature input value.
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time_input (float): Current time in seconds.
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Returns:
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`true` if tuning is finished, otherwise `false`.
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@ -110,10 +93,9 @@ class PIDAutotune():
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if (self._state == PIDAutotuneState.STATE_OFF
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or self._state == PIDAutotuneState.STATE_SUCCEEDED
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or self._state == PIDAutotuneState.STATE_FAILED):
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self._initTuner(input_val, now)
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self.init_tuner(input_val, now)
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self._last_run_timestamp = now
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# print("temp : ", input_val)
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# check input and change relay state if necessary
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if (self._state == PIDAutotuneState.STATE_RELAY_STEP_UP
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@ -197,7 +179,6 @@ class PIDAutotune():
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if amplitude_dev < PIDAutotune.PEAK_AMPLITUDE_TOLERANCE:
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self._state = PIDAutotuneState.STATE_SUCCEEDED
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# logging.debug('peak finding succeeded')
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# if the autotune has not already converged
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# terminate after 10 cycles
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@ -225,13 +206,12 @@ class PIDAutotune():
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print('rule: {0}'.format(rule))
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print('Kp: {0}'.format(params.Kp))
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print('Ki: {0}'.format(params.Ki))
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print('Kd: {0}'.format(params.Kd))
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print('Kd: {0}'.format(params.Kd))
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return True
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return False
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def _initTuner(self, inputValue, timestamp):
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def init_tuner(self, inputValue, timestamp):
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self._peak_type = 0
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self._peak_count = 0
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self._output = 0
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@ -245,7 +225,6 @@ class PIDAutotune():
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self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
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def main():
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# Auto tune parameters
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# Thermostat channel
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channel = 0
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@ -260,7 +239,7 @@ def main():
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# logging.basicConfig(level=logging.DEBUG)
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tec = Client() #(host="localhost", port=6667)
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tec = Client()
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data = next(tec.report_mode())
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ch = data[channel]
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@ -268,7 +247,6 @@ def main():
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tuner = PIDAutotune(target_temperature, output_step, lookback, noiseband, ch['interval'])
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for data in tec.report_mode():
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try:
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ch = data[channel]
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