pytec: autotune formatting

This commit is contained in:
topquark12 2021-01-04 14:13:01 +08:00
parent aab0d6d25c
commit 9f872c0113
1 changed files with 10 additions and 32 deletions

View File

@ -2,8 +2,8 @@ import math
import logging
from time import time
from collections import deque, namedtuple
from pytec.client import Client
from enum import Enum
from pytec.client import Client
# Based on hirshmann pid-autotune libiary
# See https://github.com/hirschmann/pid-autotune
@ -18,12 +18,10 @@ class PIDAutotuneState(Enum):
STATE_FAILED = 'failed'
class PIDAutotune():
PIDParams = namedtuple('PIDParams', ['Kp', 'Ki', 'Kd'])
PEAK_AMPLITUDE_TOLERANCE = 0.05
_tuning_rules = {
"ziegler-nichols": [0.6, 1.2, 0.075],
"tyreus-luyben": [0.4545, 0.2066, 0.07214],
@ -36,19 +34,8 @@ class PIDAutotune():
def __init__(self, setpoint, out_step=10, lookback=60, noiseband=0.5, sampletime=1.2):
if setpoint is None:
raise ValueError('setpoint must be specified')
# if out_step < 1:
# raise ValueError('out_step must be greater or equal to 1')
# if sampletime < 1:
# raise ValueError('sampletime must be greater or equal to 1')
# if lookback < sampletime:
# raise ValueError('lookback must be greater or equal to sampletime')
# if out_min >= out_max:
# raise ValueError('out_min must be less than out_max')
# self._time = time
# logging = logging.getLogger(type(self).__name__)
self._inputs = deque(maxlen=round(lookback / sampletime))
# self._sampletime = sampletime * 1000
self._setpoint = setpoint
self._outputstep = out_step
self._noiseband = noiseband
@ -66,17 +53,14 @@ class PIDAutotune():
self._Ku = 0
self._Pu = 0
def state(self):
"""Get the current state."""
return self._state
def output(self):
"""Get the last output value."""
return self._output
# @property
def tuning_rules(self):
"""Get a list of all available tuning rules."""
return self._tuning_rules.keys()
@ -90,9 +74,7 @@ class PIDAutotune():
"""
divisors = self._tuning_rules[tuning_rule]
kp = self._Ku * divisors[0]
# ki = kp / (self._Pu / divisors[1])
ki = divisors[1] * self._Ku / self._Pu
# kd = kp * (self._Pu / divisors[2])
kd = divisors[2] * self._Ku * self._Pu
return PIDAutotune.PIDParams(kp, ki, kd)
@ -100,7 +82,8 @@ class PIDAutotune():
"""To autotune a system, this method must be called periodically.
Args:
input_val (float): The input value.
input_val (float): The temperature input value.
time_input (float): Current time in seconds.
Returns:
`true` if tuning is finished, otherwise `false`.
@ -110,10 +93,9 @@ class PIDAutotune():
if (self._state == PIDAutotuneState.STATE_OFF
or self._state == PIDAutotuneState.STATE_SUCCEEDED
or self._state == PIDAutotuneState.STATE_FAILED):
self._initTuner(input_val, now)
self.init_tuner(input_val, now)
self._last_run_timestamp = now
# print("temp : ", input_val)
# check input and change relay state if necessary
if (self._state == PIDAutotuneState.STATE_RELAY_STEP_UP
@ -197,7 +179,6 @@ class PIDAutotune():
if amplitude_dev < PIDAutotune.PEAK_AMPLITUDE_TOLERANCE:
self._state = PIDAutotuneState.STATE_SUCCEEDED
# logging.debug('peak finding succeeded')
# if the autotune has not already converged
# terminate after 10 cycles
@ -227,11 +208,10 @@ class PIDAutotune():
print('Ki: {0}'.format(params.Ki))
print('Kd: {0}'.format(params.Kd))
return True
return False
def _initTuner(self, inputValue, timestamp):
def init_tuner(self, inputValue, timestamp):
self._peak_type = 0
self._peak_count = 0
self._output = 0
@ -245,7 +225,6 @@ class PIDAutotune():
self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
def main():
# Auto tune parameters
# Thermostat channel
channel = 0
@ -260,7 +239,7 @@ def main():
# logging.basicConfig(level=logging.DEBUG)
tec = Client() #(host="localhost", port=6667)
tec = Client()
data = next(tec.report_mode())
ch = data[channel]
@ -268,7 +247,6 @@ def main():
tuner = PIDAutotune(target_temperature, output_step, lookback, noiseband, ch['interval'])
for data in tec.report_mode():
try:
ch = data[channel]