Markus Zolliker
f5667a9267
example usage: use a temperature controller without changing the calibration setting: reading the raw sensor, calibrate by software and use 'manual' heater output Change-Id: I3dbcf37e7726b48a0516d7aa30758be52b80fe58 Reviewed-on: https://forge.frm2.tum.de/review/c/secop/frappy/+/33910 Tested-by: Jenkins Automated Tests <pedersen+jenkins@frm2.tum.de> Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
87 lines
3.4 KiB
Python
87 lines
3.4 KiB
Python
# *****************************************************************************
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Markus Zolliker <markus.zolliker@psi.ch>
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# Jael Celia Lorenzana <jael-celia.lorenzana@psi.ch>
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#
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# *****************************************************************************
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"""soft PI control"""
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import time
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import math
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from frappy.core import Writable, Parameter, FloatRange, IDLE
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from frappy.lib import clamp
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from frappy.datatypes import LimitsType, EnumType
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from frappy.mixins import HasOutputModule
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class PImixin(HasOutputModule, Writable):
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p = Parameter('proportional term', FloatRange(0), readonly=False)
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i = Parameter('integral term', FloatRange(0), readonly=False)
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output_range = Parameter('min output',
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LimitsType(FloatRange()), default=(0, 0), readonly=False)
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output_func = Parameter('output function',
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EnumType(lin=0, square=1), readonly=False, default=0)
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value = Parameter(unit='K')
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_lastdiff = None
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_lasttime = 0
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_clamp_limits = None
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def doPoll(self):
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super().doPoll()
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if self._clamp_limits is None:
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out = self.output_module
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if hasattr(out, 'max_target'):
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if hasattr(self, 'min_target'):
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self._clamp_limits = lambda v, o=out: clamp(v, o.read_min_target(), o.read_max_target())
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else:
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self._clamp_limits = lambda v, o=out: clamp(v, 0, o.read_max_target())
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elif hasattr(out, 'limit'): # mercury.HeaterOutput
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self._clamp_limits = lambda v, o=out: clamp(v, 0, o.read_limit())
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else:
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self._clamp_limits = lambda v: v
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if self.output_range == (0.0, 0.0):
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self.output_range = (0, self._clamp_limits(float('inf')))
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if not self.control_active:
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return
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self.status = IDLE, 'controlling'
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now = time.time()
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deltat = clamp(0, now-self._lasttime, 10)
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self._lasttime = now
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diff = self.target - self.value
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if self._lastdiff is None:
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self._lastdiff = diff
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deltadiff = diff - self._lastdiff
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self._lastdiff = diff
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out = self.output_module
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output = out.target
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if self.output_func == 'square':
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output = math.sqrt(max(0, output))
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output += self.p * deltadiff + self.i * deltat * diff
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if self.output_func == 'square':
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output = output ** 2
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output = self._clamp_limits(output)
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out.update_target(self.name, clamp(output, *self.output_range))
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def write_control_active(self, value):
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if not value:
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self.output_module.write_target(0)
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def write_target(self, _):
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if not self.control_active:
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self.activate_control()
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