Andrew Kerrigan's sct driver for the Pfeiffer pressure gauge and Oxford Mercury
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Douglas Clowes
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# Andrew Kerrigan
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# andrewk@ansto.gov.au / u4673036@anu.edu.au
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#
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# Driver to control the pressure inside the 12T magnet using a pfeiffer pressure gauge as a pressure readout and the needle valve on the magnet as a pressure/flow control
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#
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# PID parameters:
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# setPoint/control Kp Proportionate control constant
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# setPoint/control Ki Integral control constant
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# setPoint/control Kd Derivative control constant
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# setPoint/control period Period of control loop in seconds
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#
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# Kp is in units of %/mbar, Ki and Kd follow from that.
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#
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# Usage:
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# add_mercury name IP_mercury Port_mercury IP_pfeiffer Port_pfeiffer filename
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# IP_mercury IP address of the mercury iTC on the moxabox
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# Port_mercury Port of the mercury iTC on the moxabox
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# IP_pfeiffer IP address of the pfeiffer on the moxabox
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# Port_pfeiffer Port of the pfeiffer on the moxabox
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# filename Name and location of the log file
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#
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# Example:
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# add_mercury mercury 137.157.202.78 4004 137.157.202.78 4002 /home/nbi/AndrewKSICS/MercuryPLoop.txt
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#
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# The commands to read and set the needle pressure are specific to the setup on the mercury
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namespace eval ::scobj::mercurycontrol {
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proc getValue {id type signal nextState path} {
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if [hpropexists [sct] geterror] {
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hdelprop [sct] geterror
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}
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sct send "READ:DEV:DB4.G1:AUX:SIG:OPEN"
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return $nextState
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}
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proc readValue {path} {
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set data [sct result]
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switch -glob -- $data {
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"ASCERR:*" {
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sct geterror $data
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set nextState idle
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}
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default {
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set val [string range $data 29 34]
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set oldval [hgetpropval ${path}/sensor/value oldval]
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set nextstate idle
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if {$val != $oldval} {
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sct update $val
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sct utime readtime
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}
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hsetprop ${path}/sensor/value oldval $val
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if {[string equal "true" [hgetpropval ${path}/setPoint isSet]]} {
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set nextstate controlValve
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}
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if {[hgetpropval $path/currentPressure logging] = 1} {
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set floc [hval ${path}/filename]
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set fn [open $floc a+]
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set valvepos [hval ${path}/sensor/value]
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set pressure [hval ${path}/currentPressure]
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set setpoint [hval ${path}/setPoint]
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set statustext [hgetpropval ${path}/currentPressure statusText]
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set curtime [hgetpropval ${path}/sensor/value readtime]
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puts $fn "$curtime, $pressure, $setpoint, $valvepos, $statusText"
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close $fn
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}
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}
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return $nextstate
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}
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proc controlValve {path} {
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set currentTime [clock seconds]
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set prevTime [hgetpropval $path/setPoint updateTime]
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set elapsed [expr $currentTime - $prevTime]
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set period [expr [hgetpropval $path/setPoint/control period]]
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set controlling 1
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#30 second update frequency - the needle valve is fairly slow
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if {$elapsed < $period} {
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return idle
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} else {
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hsetprop $path/setPoint updateTime [clock seconds]
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}
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set Kp [hgetpropval $path/setPoint/control Kp]
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set Ki [hgetpropval $path/setPoint/control Ki]
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set Kd [hgetpropval $path/setPoint/control Kd]
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set currentError [hgetpropval $path/setPoint/control currentError]
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hsetprop $path/setPoint/control prevError $currentError
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set currentPressure [expr [hval $path/currentPressure]]
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set currentError [expr [hval $path/setPoint] - $currentPressure]
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set currentPos [expr [hval $path/sensor/value]]
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hsetprop $path/setPoint/control currentError $currentError
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set oldIntControl [hgetpropval $path/setPoint/control integralControl]
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set integralControl [expr $oldIntControl + $Ki * $currentError]
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hsetprop $path/setPoint/control integralControl $integralControl
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set proportionateControl [expr $Kp * $currentError]
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set differentialControl [expr $Kd * $currentError - $Kd * $prevError]
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set newPos [expr $currentPos + $proportionateControl + $integralControl + $differentialControl]
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if {$controlling} { # Control range is [0.0 - 100.0], the valve won't move if it is set outside this range
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if {$newPos > 100} {
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set outPos 100.0
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} elseif {$newPos < 0} {
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set outPos 0.0
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} else {
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set outPos $newPos
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}
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sct_mercury send "SET:DEV:MB1.T1:TEMP:LOOP:FSET:${outPos}"
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}
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return idle
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}
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proc sendPR1 {par nextState} {
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if [hpropexists [sct] geterror] {
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hdelprop [sct] geterror
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}
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sct send "$par"
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return $nextState
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}
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proc isReady {nextState} {
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set data [sct result]
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switch -glob -- $data {
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"ASCERR:*" {
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sct geterror $data
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set nextState idle
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}
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default {
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if {$data == "\x06"} {
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sct send "\x05"
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}
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}
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}
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return $nextState
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}
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proc getPR1 {path nextState} {
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set data [sct result]
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switch -glob -- $data {
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"ASCERR:*" {
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sct geterror $data
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set nextState idle
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}
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default {
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set val [string range $data 3 12]
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set status [string range $data 0 0]
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sct update $val
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hsetprop ${path}/currentPressure status $status
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sct utime readtime
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set nextState statusUpdate
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}
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return $nextState
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}
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}
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proc statusUpdate {path} {
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set status [hgetpropval $path/currentPressure status]
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switch $status {
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0 { set text "Sensor OK" }
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1 { set text "Sensor underrange" }
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2 { set text "Sensor overrange" }
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3 { set text "Sensor error" }
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4 { set text "Sensor off" }
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5 { set text "No sensor" }
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6 { set text "Identification error" }
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default { set text "Status unreadable" }
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}
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hsetprop $path/currentPressure statusText $text
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return idle
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}
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proc mk_mercury_itc {name sct_mercury sct_pfeiffer klass filename} {
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makesicsobj $name SCT_OBJECT
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sicslist setatt $name klass $klass
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sicslist setatt $name long_name $name
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set scobj_hpath /sics/$name
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set ns ::scobj::mercurycontrol
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hfactory ${scobj_hpath}/sensor plain user none
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hfactory ${scobj_hpath}/sensor/value plain user float
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hsetprop ${scobj_hpath}/sensor/value read ${ns}::getValue readValue $scobj_hpath
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hsetprop ${scobj_hpath}/sensor/value readValue ${ns}::readValue $scobj_hpath
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hsetprop ${scobj_hpath}/sensor/value controlValve ${ns}::controlValve $scobj_hpath
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hsetprop ${scobj_hpath}/sensor/value oldval -1.0
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hfactory ${scobj_hpath}/setPoint plain user float
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hsetprop ${scobj_hpath}/setPoint isSet "false"
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hsetprop ${scobj_hpath}/setPoint updateTime 0
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hfactory ${scobj_hpath}/setPoint/control plain user none
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hsetprop ${scobj_hpath}/setPoint/control Kp 33.0
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hsetprop ${scobj_hpath}/setPoint/control Ki 0.0
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hsetprop ${scobj_hpath}/setPoint/control Kd 0.0
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hsetprop ${scobj_hpath}/setPoint/control currentError UNKNOWN
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hsetprop ${scobj_hpath}/setPoint/control prevError UNKNOWN
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hsetprop ${scobj_hpath}/setPoint/control integralControl 0.0
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hsetprop ${scobj_hpath}/setPoint/control period 30
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hfactory ${scobj_hpath}/currentPressure plain user float
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hsetprop ${scobj_hpath}/currentPressure read ${ns}::sendPR1 "PR1" isReady
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hsetprop ${scobj_hpath}/currentPressure isReady ${ns}::isReady getPR1
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hsetprop ${scobj_hpath}/currentPressure getPR1 ${ns}::getPR1 $scobj_hpath statusUpdate
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hsetprop ${scobj_hpath}/currentPressure statusUpdate ${ns}::statusUpdate $scobj_hpath
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hsetprop ${scobj_hpath}/currentPressure status 0
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hsetprop ${scobj_hpath}/currentPressure statusText UNKNOWN
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hsetprop ${scobj_hpath}/currentPressure readtime UNKNOWN
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hfactory ${scobj_hpath}/filename plain user text
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hset ${scobj_hpath}/filename $filename
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if {$filename = "noFile"} {
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hsetprop ${scobj_hpath}/currentPressure logging 0
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} else {
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hsetprop ${scobj_hpath}/currentPressure logging 1
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set floc $filename
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set fn [open $floc a+]
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puts $fn "Time (s), Pressure (mbar), Setpoint (mbar), Valve Pos (%), Gauge Status"
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close $fn
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}
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::scobj::hinitprops $name
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::scobj::set_required_props $scobj_hpath
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if {[SplitReply [environment_simulation]]=="false"} {
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$sct_mercury poll ${scobj_hpath}/sensor/value 1 read read
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$sct_pfeiffer poll ${scobj_hpath}/currentPressure 1 read read
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}
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}
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namespace export mk_mercury_itc
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}
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namespace import ::scobj::mercurycontrol::*
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proc add_mercury {name IP_mercury port_mercury IP_pfeiffer port_pfeiffer {filename "noFile"}} {
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if {[SplitReply [environment_simulation]]=="false"} {
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makesctcontroller sct_mercury std ${IP_mercury}:$port_mercury
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makesctcontroller sct_pfeiffer std ${IP_pfeiffer}:$port_pfeiffer
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}
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mk_mercury_itc $name sct_mercury sct_pfeiffer environment $filename
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}
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# add_mercury mercury 137.157.202.78 4004 137.157.202.78 4002 /home/nbi/AndrewKSICS/MercuryPLoop.txt
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