forked from M-Labs/kirdy
pid_autotune: Update pid autotune main fn
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@ -72,6 +72,13 @@ class PIDAutotune:
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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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def get_tec_pid (self):
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divisors = self._tuning_rules["tyreus-luyben"]
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kp = self._Ku * divisors[0]
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ki = divisors[1] * self._Ku / self._Pu
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kd = divisors[2] * self._Ku * self._Pu
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return kp, ki, kd
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def get_pid_parameters(self, tuning_rule='ziegler-nichols'):
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"""Get PID parameters.
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@ -224,38 +231,55 @@ class PIDAutotune:
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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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PID Autotune Tool for Kirdy
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This tool can tune the PID to be critically damped by adjusting a few parameters.
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Please be advised that this tool can generate undesired PID response.
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Make sure you have set the over-temperature protection range properly to protect the laser diode.
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PID Autotune Tool Parameters:
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For the operation theory and implication of each parameters, please refer to this blog post.
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http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/
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1. lookback: Reference period for local minima/maxima, seconds.
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2. noiseband: Determines by how much the input value must overshoot/undershoot the setpoint(celsius).
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3. output_step: Output current step size(amps).
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4. target_temperature: Target Output Temperature Setpoint.
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5. apply_params: Apply PID Parameters after pid autotune is successful.
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Kirdy-Related Parameters:
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1. Thermistor parameters.
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2. Temperature monitor upper and lower limits.
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3. Temperature ADC filter type and sampling rate.
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Instructions:
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Before running the PID Autotune Tool, please:
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1. Secure the laser diode onto the LD adapter and copper heat sink with thermal paste.
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2. Ensure Kirdy has warmed up and reached thermal equilibrium.
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After running the PID Autotune Tool:
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Test the PID parameters and evaluate the PID output behavior.
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"""
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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 = 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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lookback = 5.0
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noiseband = 0.0
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# Apply parameter
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apply_params = True
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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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kirdy_ctrl = Kirdy()
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await kirdy.start_session(host='192.168.1.131', port=1337, timeout=0.25)
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await kirdy_ctrl.start_session(host='192.168.1.131', 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_ctrl.laser.set_power_on(False)
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await kirdy_ctrl.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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await kirdy_ctrl.thermostat.set_power_on(False)
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await kirdy_ctrl.thermostat.set_constant_current_control_mode()
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await kirdy_ctrl.thermostat.set_tec_i_out(0)
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await kirdy_ctrl.thermostat.clear_alarm()
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class SignalHandler:
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KEEP_PROCESSING = True
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@ -267,50 +291,53 @@ async def main():
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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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await kirdy_ctrl.thermostat.set_sh_beta(3950)
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await kirdy_ctrl.thermostat.set_sh_r0(10.0 * 1000)
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await kirdy_ctrl.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_cooling_i(output_step)
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await kirdy.thermostat.set_tec_max_heating_i(output_step)
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# Set a large enough temperature range so that it won't trigger over-temperature protection
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await kirdy_ctrl.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
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await kirdy_ctrl.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
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await kirdy_ctrl.thermostat.set_tec_max_cooling_i(output_step)
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await kirdy_ctrl.thermostat.set_tec_max_heating_i(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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settings = await kirdy_ctrl.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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await kirdy_ctrl.thermostat.set_power_on(True)
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tuner = PIDAutotune(target_temperature, output_step,
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lookback, noiseband, 1/sampling_rate)
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await kirdy.thermostat.set_power_on(True)
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async for status_report in kirdy.report_mode():
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if signal_handler.KEEP_PROCESSING:
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temperature = status_report["thermostat"]["temperature"]
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ts = status_report['ts']
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print("Ts: {0} Temperature: {1} degree".format(ts, temperature))
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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["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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if (tuner.run(temperature, ts / 1000.0)):
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print(tuner._state)
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kirdy.stop_report_mode()
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tuner_out = tuner.output()
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await kirdy.thermostat.set_tec_i_out(float(tuner_out))
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tuner_out = tuner.output()
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print("PID Autotuner Output: {0}A".format(tuner_out))
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await kirdy_ctrl.thermostat.set_tec_i_out(tuner_out)
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else:
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kirdy.stop_report_mode()
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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_ctrl.thermostat.set_tec_i_out(0)
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await kirdy_ctrl.thermostat.set_power_on(False)
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if apply_params:
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kp, ki, kd = tuner.get_tec_pid()
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await kirdy_ctrl.thermostat.set_pid_kp(kp)
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await kirdy_ctrl.thermostat.set_pid_ki(ki)
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await kirdy_ctrl.thermostat.set_pid_kd(kd)
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await kirdy.end_session()
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await kirdy_ctrl.end_session()
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if __name__ == "__main__":
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asyncio.run(main())
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