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improve readability be renaming PARAMS,PROPS,CMDS

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Change-Id: Ie37768ed813acdf0cb0707c70ff63397ec8bfbf1
Reviewed-on: https://forge.frm2.tum.de/review/17320
Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de>
Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
This commit is contained in:
Enrico Faulhaber
2018-02-14 13:32:19 +01:00
parent aba67dde7f
commit f54e8ccb45
9 changed files with 372 additions and 427 deletions
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73
secop_demo/cryo.py
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@@ -23,9 +23,8 @@
from math import atan
import time
import random
import threading
from secop.modules import Drivable, CMD, PARAM
from secop.modules import Drivable, Command, Param
from secop.protocol import status
from secop.datatypes import FloatRange, EnumType, TupleOf
from secop.lib import clamp, mkthread
@@ -42,90 +41,90 @@ class Cryostat(CryoBase):
- cooling power
- thermal transfer between regulation and samplen
"""
PARAMS = dict(
jitter=PARAM("amount of random noise on readout values",
parameters = dict(
jitter=Param("amount of random noise on readout values",
datatype=FloatRange(0, 1), unit="K",
default=0.1, readonly=False, export=False,
),
T_start=PARAM("starting temperature for simulation",
T_start=Param("starting temperature for simulation",
datatype=FloatRange(0), default=10,
export=False,
),
looptime=PARAM("timestep for simulation",
looptime=Param("timestep for simulation",
datatype=FloatRange(0.01, 10), unit="s", default=1,
readonly=False, export=False,
),
ramp=PARAM("ramping speed of the setpoint",
ramp=Param("ramping speed of the setpoint",
datatype=FloatRange(0, 1e3), unit="K/min", default=1,
readonly=False,
),
setpoint=PARAM("current setpoint during ramping else target",
setpoint=Param("current setpoint during ramping else target",
datatype=FloatRange(), default=1, unit='K',
),
maxpower=PARAM("Maximum heater power",
maxpower=Param("Maximum heater power",
datatype=FloatRange(0), default=1, unit="W",
readonly=False,
group='heater_settings',
),
heater=PARAM("current heater setting",
heater=Param("current heater setting",
datatype=FloatRange(0, 100), default=0, unit="%",
group='heater_settings',
),
heaterpower=PARAM("current heater power",
heaterpower=Param("current heater power",
datatype=FloatRange(0), default=0, unit="W",
group='heater_settings',
),
target=PARAM("target temperature",
target=Param("target temperature",
datatype=FloatRange(0), default=0, unit="K",
readonly=False,
),
value=PARAM("regulation temperature",
value=Param("regulation temperature",
datatype=FloatRange(0), default=0, unit="K",
),
pid=PARAM("regulation coefficients",
pid=Param("regulation coefficients",
datatype=TupleOf(FloatRange(0), FloatRange(0, 100),
FloatRange(0, 100)),
default=(40, 10, 2), readonly=False,
group='pid',
),
p=PARAM("regulation coefficient 'p'",
p=Param("regulation coefficient 'p'",
datatype=FloatRange(0), default=40, unit="%/K", readonly=False,
group='pid',
),
i=PARAM("regulation coefficient 'i'",
i=Param("regulation coefficient 'i'",
datatype=FloatRange(0, 100), default=10, readonly=False,
group='pid',
),
d=PARAM("regulation coefficient 'd'",
d=Param("regulation coefficient 'd'",
datatype=FloatRange(0, 100), default=2, readonly=False,
group='pid',
),
mode=PARAM("mode of regulation",
mode=Param("mode of regulation",
datatype=EnumType('ramp', 'pid', 'openloop'),
default='ramp',
readonly=False,
),
pollinterval=PARAM("polling interval",
pollinterval=Param("polling interval",
datatype=FloatRange(0), default=5,
),
tolerance=PARAM("temperature range for stability checking",
tolerance=Param("temperature range for stability checking",
datatype=FloatRange(0, 100), default=0.1, unit='K',
readonly=False,
group='stability',
),
window=PARAM("time window for stability checking",
window=Param("time window for stability checking",
datatype=FloatRange(1, 900), default=30, unit='s',
readonly=False,
group='stability',
),
timeout=PARAM("max waiting time for stabilisation check",
timeout=Param("max waiting time for stabilisation check",
datatype=FloatRange(1, 36000), default=900, unit='s',
readonly=False,
group='stability',
),
)
CMDS = dict(
stop=CMD(
commands = dict(
stop=Command(
"Stop ramping the setpoint\n\nby setting the current setpoint as new target",
[],
None),
@@ -236,7 +235,7 @@ class Cryostat(CryoBase):
lastflow = 0
last_heaters = (0, 0)
delta = 0
I = D = 0
_I = _D = 0
lastD = 0
damper = 1
lastmode = self.mode
@@ -283,32 +282,32 @@ class Cryostat(CryoBase):
kp = self.p / 10. # LakeShore P = 10*k_p
ki = kp * abs(self.i) / 500. # LakeShore I = 500/T_i
kd = kp * abs(self.d) / 2. # LakeShore D = 2*T_d
P = kp * error
I += ki * error * h
D = kd * delta / h
_P = kp * error
_I += ki * error * h
_D = kd * delta / h
# avoid reset windup
I = clamp(I, 0., 100.) # I is in %
_I = clamp(_I, 0., 100.) # _I is in %
# avoid jumping heaterpower if switching back to pid mode
if lastmode != self.mode:
# adjust some values upon switching back on
I = self.heater - P - D
_I = self.heater - _P - _D
v = P + I + D
v = _P + _I + _D
# in damping mode, use a weighted sum of old + new heaterpower
if damper > 1:
v = ((damper**2 - 1) * self.heater + v) / damper**2
# damp oscillations due to D switching signs
if D * lastD < -0.2:
if _D * lastD < -0.2:
v = (v + heater) / 2.
# clamp new heater power to 0..100%
heater = clamp(v, 0., 100.)
lastD = D
lastD = _D
self.log.debug('PID: P = %.2f, I = %.2f, D = %.2f, '
'heater = %.2f' % (P, I, D, heater))
'heater = %.2f' % (_P, _I, _D, heater))
# check for turn-around points to detect oscillations ->
# increase damper
@@ -351,9 +350,9 @@ class Cryostat(CryoBase):
window.pop(0)
# obtain min/max
deviation = 0
for _, T in window:
if abs(T - self.target) > deviation:
deviation = abs(T - self.target)
for _, _T in window:
if abs(_T - self.target) > deviation:
deviation = abs(_T - self.target)
if (len(window) < 3) or deviation > self.tolerance:
self.status = status.BUSY, 'unstable'
elif self.setpoint == self.target: