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control_arduino.py
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control_arduino.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Wed Jan 16 10:24:26 2019
@author: evertoncolling
@email: [email protected]
@licence: MIT
"""
from __future__ import print_function, division
from ipywidgets import widgets as wi
from IPython.display import display
import threading
import time
import numpy as np
from gekko import GEKKO
import bqplot as bq
from tclab import TCLab
class GUI(object):
"""
Class that defines the _GUI applications
"""
def __init__(self):
"""
Initialize the _GUI elements
"""
#######################################################################
# PLOTTING CONFIGURATION
#######################################################################
colors = [
'#1f77b4', # T1
'#5ebdff', # T1_SP
'#d62728', # T2
'#ff7f0e', # T2_SP
'#1f77b4', # Q1
'#d62728' # Q2
]
# Create scales
t_sc = bq.LinearScale()
T_sc = bq.LinearScale(min=20., max=60.)
Q_sc = bq.LinearScale(min=0., max=100.)
T_sc_set = {'x': t_sc, 'y': T_sc}
Q_sc_set = {'x': t_sc, 'y': Q_sc}
# Create Axis
ax_x1 = bq.Axis(label="", scale=t_sc, visible=False) # upper
ax_x2 = bq.Axis(label="time [min]", scale=t_sc) # down
ax_T1 = bq.Axis(label="Temperature 1 [C]", scale=T_sc,
orientation="vertical", label_color=colors[0])
ax_T2 = bq.Axis(label="Temperature 2 [C]", scale=T_sc,
orientation="vertical", label_color=colors[2])
ax_Q = bq.Axis(label="Heater Output [%]", scale=Q_sc,
orientation="vertical", label_color="black")
# Create Lines/Markers
self._T1_meas = bq.Scatter(x=[], y=[], scales=T_sc_set,
marker='circle', colors=[colors[0]],
display_legend=False, default_size=20)
self._T2_meas = bq.Scatter(x=[], y=[], scales=T_sc_set,
marker='circle', colors=[colors[2]],
display_legend=False, default_size=20)
self._T1_set_point = bq.Lines(x=[], y=[], scales=T_sc_set,
stroke_width=4, colors=[colors[1]],
interpolation='step-before',
display_legend=False)
self._T2_set_point = bq.Lines(x=[], y=[], scales=T_sc_set,
stroke_width=4, colors=[colors[3]],
interpolation='step-before',
display_legend=False)
self._u1 = bq.Lines(x=[], y=[], scales=Q_sc_set,
stroke_width=2, colors=[colors[4]],
interpolation='step-before',
display_legend=True, labels=['Heater 1'])
self._u2 = bq.Lines(x=[], y=[], scales=Q_sc_set,
stroke_width=2, colors=[colors[5]],
interpolation='step-before',
display_legend=True, labels=['Heater 2'])
# Mix everything and create figures
fig_lay_up = wi.Layout(width="400px", height="240px")
fig_lay_down = wi.Layout(width="400px", height="290px")
box1 = dict(top=10, bottom=0, left=60, right=5)
box2 = dict(top=10, bottom=0, left=60, right=20)
box3 = dict(top=10, bottom=50, left=60, right=10)
fig1 = bq.Figure(layout=fig_lay_up, axes=[ax_x1, ax_T1],
marks=[self._T1_meas, self._T1_set_point],
fig_margin=box1)
fig2 = bq.Figure(layout=fig_lay_up, axes=[ax_x1, ax_T2],
marks=[self._T2_meas, self._T2_set_point],
fig_margin=box2)
fig3 = bq.Figure(layout=fig_lay_down, axes=[ax_x2, ax_Q],
marks=[self._u1, self._u2], fig_margin=box3,
legend_location="left",
legend_style={"fill": "white",
"fill-opacity": "0.7",
"width": "130px"})
#######################################################################
# SPACING WIDGETS CRIATION
#######################################################################
v_space = wi.Label(value="", layout=wi.Layout(height='2px'))
h_space = wi.Label(value="", layout=wi.Layout(width='2px'))
#######################################################################
# VARYING ARRAYS TO STORE DATA
#######################################################################
self._t = np.array([])
self._Q1 = np.array([])
self._Q2 = np.array([])
self._T = np.array([[]]).reshape((0, 2))
self._SP_T1 = np.array([])
self._SP_T2 = np.array([])
#######################################################################
# PARAMETERS
#######################################################################
self._delta_t = 4.0
self._maxtime = int(500/self._delta_t)
self._T1_SP = 30
self._T2_SP = 30
self._Q10 = 0
self._Q20 = 0
self._flag = False
self._sleep = 0.5
self._Tc0 = np.array([293.15, 293.15])
self._q1_dt_on_off = 0.1
self._q2_dt_on_off = 0.1
self._pid1_gain = 10.
self._pid1_reset = 50.
self._pid1_rate = 1.
self._pid2_gain = 10.
self._pid2_reset = 50.
self._pid2_rate = 1.
self._SOLVER = '1 - APOPT'
self._CVTYPE = '1 - Deadband'
self._T1_dt = 0.1
self._T1_tau = 10.
self._T2_dt = 0.1
self._T2_tau = 10.
self._Q1_DMAX = 30.
self._Q1_DCOST = 1.
self._Q2_DMAX = 30.
self._Q2_DCOST = 1.
#######################################################################
# OUTPUT WIDGETS CRIATION
#######################################################################
style = {'description_width': 'initial'}
self._PT1 = wi.FloatProgress(value=self._Tc0[0]-273.15, min=0,
max=100.0,
description='<b>PV (°C):</b>',
bar_style='warning',
orientation='horizontal',
style=style)
self._LT1 = wi.Label(value=str(self._PT1.value))
wi.jslink((self._PT1, 'value'), (self._LT1, 'value'))
self._PT2 = wi.FloatProgress(value=self._Tc0[1]-273.15, min=0,
max=100.0,
description='<b>PV (°C):</b>',
bar_style='warning',
orientation='horizontal',
style=style)
self._LT2 = wi.Label(value=str(self._PT2.value))
wi.jslink((self._PT2, 'value'), (self._LT2, 'value'))
#######################################################################
# INTERACTION WIDGETS CREATION
#######################################################################
self._wQ1 = wi.FloatSlider(value=self._Q10, min=0, max=100.0, step=0.5,
description='<b>Q1 (%):</b>',
continuous_update=False,
orientation='horizontal',
readout=False, style=style,
layout=wi.Layout(width='230px'))
self._tQ1 = wi.BoundedFloatText(value=self._Q10, min=0, max=100.0,
step=0.5,
layout=wi.Layout(width='60px'))
wi.jslink((self._wQ1, 'value'), (self._tQ1, 'value'))
self._bQ1 = wi.Button(description='Set',
layout=wi.Layout(width='50px'))
self._bQ1.on_click(self._Q1_click)
self._wQ2 = wi.FloatSlider(value=self._Q20, min=0, max=100.0, step=0.5,
description='<b>Q2 (%):</b>',
continuous_update=False,
orientation='horizontal',
readout=False, style=style,
layout=wi.Layout(width='230px'))
self._tQ2 = wi.BoundedFloatText(value=self._Q20, min=0, max=100.0,
step=0.5,
layout=wi.Layout(width='60px'))
wi.jslink((self._wQ2, 'value'), (self._tQ2, 'value'))
self._bQ2 = wi.Button(description='Set',
layout=wi.Layout(width='50px'))
self._bQ2.on_click(self._Q2_click)
self._wT1 = wi.FloatSlider(value=self._T1_SP, min=20, max=60.0,
step=0.5, description='<b>T1 SP:</b>',
continuous_update=False,
orientation='horizontal',
readout=False, style=style,
disabled=True,
layout=wi.Layout(width='230px'))
self._tT1 = wi.BoundedFloatText(value=self._T1_SP, min=20, max=60.0,
step=0.5, disabled=True,
layout=wi.Layout(width='60px'))
wi.jslink((self._wT1, 'value'), (self._tT1, 'value'))
self._bT1 = wi.Button(description='Set',
layout=wi.Layout(width='50px'),
disabled=True)
self._bT1.on_click(self._T1_click)
self._wT2 = wi.FloatSlider(value=self._T2_SP, min=20, max=60.0,
step=0.5, description='<b>T2 SP:</b>',
continuous_update=False,
orientation='horizontal', disabled=True,
readout=False, style=style,
layout=wi.Layout(width='230px'))
self._tT2 = wi.BoundedFloatText(value=self._T2_SP, min=20, max=60.0,
step=0.5, disabled=True,
layout=wi.Layout(width='60px'))
wi.jslink((self._wT2, 'value'), (self._tT2, 'value'))
self._bT2 = wi.Button(description='Set',
layout=wi.Layout(width='50px'), disabled=True)
self._bT2.on_click(self._T2_click)
#######################################################################
# MODE SELECTION
#######################################################################
self._mode = wi.ToggleButtons(options=['Manual',
'On-Off',
'PID',
'MPC'],
style={'button_width': '100px'})
self._mode.observe(self._mode_switch, names='value')
#######################################################################
# STOP THREAD
#######################################################################
self._b_stop = wi.Button(description='Stop', button_style='warning',
icon='stop', layout=wi.Layout(width='100px',
height='32px'))
self._b_stop.on_click(self._stop_click)
#######################################################################
# START THREAD - OPEN LOOP
#######################################################################
self._b_play = wi.Button(description='Start', button_style='success',
icon='play', layout=wi.Layout(width='100px',
height='32px'))
self._b_play.on_click(self._play_click)
# Join Buttons
buttons = wi.HBox((self._b_play, h_space, self._b_stop,
wi.Label(value="", layout=wi.Layout(width='165px')),
self._mode))
#######################################################################
# LAYOUT
#######################################################################
Q1_Set = wi.HBox((h_space, self._wQ1, self._tQ1, self._bQ1),
layout=wi.Layout(border='solid 2px gray',
width='360px'))
T1_Set = wi.HBox((h_space, self._wT1, self._tT1, self._bT1),
layout=wi.Layout(border='solid 2px gray',
width='360px'))
T1_View = wi.HBox((h_space, self._PT1, self._LT1),
layout=wi.Layout(border='solid 2px gray',
width='360px'))
Q2_Set = wi.HBox((h_space, self._wQ2, self._tQ2, self._bQ2),
layout=wi.Layout(border='solid 2px gray',
width='360px'))
T2_Set = wi.HBox((h_space, self._wT2, self._tT2, self._bT2),
layout=wi.Layout(border='solid 2px gray',
width='360px'))
T2_View = wi.HBox((h_space, self._PT2, self._LT2),
layout=wi.Layout(border='solid 2px gray',
width='360px'))
co1 = wi.VBox((T1_Set, v_space, T1_View, v_space, Q1_Set))
co2 = wi.VBox((T2_Set, v_space, T2_View, v_space, Q2_Set))
co = wi.VBox((v_space, v_space, co1, v_space, v_space, v_space, co2))
fig1x = wi.HBox((fig1, fig2))
fig2x = wi.HBox((fig3, h_space, h_space, co))
figy = wi.VBox((fig1x, v_space, fig2x),
layout=wi.Layout(border='solid 2px gray',
width='800px'))
#######################################################################
# APPLICATION TO DISPLAY
#######################################################################
self._gui = wi.VBox((buttons, v_space, figy))
#######################################################################
# CONFIGURATOR
#######################################################################
style = {'description_width': 'initial'}
lay = wi.Layout(width='120px', margin='0 20px 0 0')
#######################################################################
# GENERAL OPTIONS
#######################################################################
self._conf11 = wi.HBox((
wi.HTML(
value='<p style="text-align: right;"><b>Δt (s):</b></p>',
layout=lay),
wi.FloatSlider(value=4.0, min=1.0, max=10.0, step=0.5,
description='', style=style)))
self._conf12 = wi.HBox((
wi.HTML(value='<p style="text-align: right;">'
'<b>Sleep time (s):</b></p>',
layout=lay),
wi.FloatSlider(value=0.5, min=0.25, max=1.5, step=0.05,
description='', style=style)))
but11 = wi.Button(description='Apply', icon='check',
layout=wi.Layout(width='100px', height='32px'))
but11.on_click(self._conf_general)
but12 = wi.Button(description='Reset', icon='refresh',
layout=wi.Layout(width='100px', height='32px'))
but12.on_click(self._reset_general)
conf13 = wi.HBox((but11, but12), layout=wi.Layout(margin='10px 0 0 0'))
#######################################################################
# ON-OFF OPTIONS
#######################################################################
lay5 = wi.Layout(width='90px', margin='0 10px 0 15px')
conf20 = wi.Button(description='TEMPERATURE 01 / HEATER 01',
disabled=True,
layout=wi.Layout(width='320px', margin='0 0 0 0'))
self._conf21 = wi.HBox((
wi.HTML(value='<p style="text-align: right;">'
'<b>Deadband (K):</b></p>',
layout=lay5),
wi.FloatSlider(value=0.1, min=0.0, max=2.0, step=0.1,
description='', style=style,
layout=wi.Layout(width='200px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
box21 = wi.VBox((conf20, self._conf21),
layout=wi.Layout(border='solid 2px gray',
width='325px',
margin='10px 0 0 0px'))
conf22 = wi.Button(description='TEMPERATURE 02 / HEATER 02',
disabled=True,
layout=wi.Layout(width='320px', margin='0 0 0 0'))
self._conf23 = wi.HBox((
wi.HTML(value='<p style="text-align: right;">'
'<b>Deadband (K):</b></p>',
layout=lay5),
wi.FloatSlider(value=0.1, min=0.0, max=2.0, step=0.1,
description='', style=style,
layout=wi.Layout(width='200px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
box22 = wi.VBox((conf22, self._conf23),
layout=wi.Layout(border='solid 2px gray',
width='325px',
margin='10px 0 0 10px'))
but21 = wi.Button(description='Apply', icon='check',
layout=wi.Layout(width='100px', height='32px'))
but21.on_click(self._conf_on_off)
but22 = wi.Button(description='Reset', icon='refresh',
layout=wi.Layout(width='100px', height='32px'))
but22.on_click(self._reset_on_off)
conf24 = wi.HBox((but21, but22), layout=wi.Layout(margin='10px 0 0 0'))
#######################################################################
# PID OPTIONS
#######################################################################
lay4 = wi.Layout(width='100px', margin='0 10px 0 15px')
conf30 = wi.Button(description='TEMPERATURE 01 / HEATER 01',
disabled=True,
layout=wi.Layout(width='330px', margin='0 0 0 0'))
self._conf31 = wi.HBox((
wi.HTML(value='<p style="text-align: right;">'
'<b>Kc (K/%Heater):</b></p>',
layout=lay4),
wi.FloatSlider(value=10.0, min=0.0, max=20.0, step=0.5,
description='', style=style,
layout=wi.Layout(width='200px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
self._conf32 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>tauI (s):</b></p>',
layout=lay4),
wi.FloatSlider(value=50.0, min=0.0, max=200.0, step=1.0,
description='', style=style,
layout=wi.Layout(width='200px'))))
self._conf33 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>tauD (s):</b></p>',
layout=lay4),
wi.FloatSlider(value=1.0, min=0.0, max=10.0, step=0.5,
description='', style=style,
layout=wi.Layout(width='200px'))))
box31 = wi.VBox((conf30, self._conf31, self._conf32, self._conf33),
layout=wi.Layout(border='solid 2px gray',
width='335px',
margin='10px 0 0 0px'))
conf34 = wi.Button(description='TEMPERATURE 02 / HEATER 02',
disabled=True,
layout=wi.Layout(width='330px', margin='0 0 0 0'))
self._conf35 = wi.HBox((
wi.HTML(value='<p style="text-align: right;">'
'<b>Kc (K/%Heater):</b></p>',
layout=lay4),
wi.FloatSlider(value=10.0, min=0.0, max=20.0, step=0.5,
description='', style=style,
layout=wi.Layout(width='200px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
self._conf36 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>tauI (s):</b></p>',
layout=lay4),
wi.FloatSlider(value=50.0, min=0.0, max=200.0, step=1.0,
description='', style=style,
layout=wi.Layout(width='200px'))))
self._conf37 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>tauD (s):</b></p>',
layout=lay4),
wi.FloatSlider(value=1.0, min=0.0, max=10.0, step=0.5,
description='', style=style,
layout=wi.Layout(width='200px'))))
box32 = wi.VBox((conf34, self._conf35, self._conf36, self._conf37),
layout=wi.Layout(border='solid 2px gray',
width='335px',
margin='10px 0 0 10px'))
but31 = wi.Button(description='Apply', icon='check',
layout=wi.Layout(width='100px', height='32px'))
but31.on_click(self._conf_pid)
but32 = wi.Button(description='Reset', icon='refresh',
layout=wi.Layout(width='100px', height='32px'))
but32.on_click(self._reset_pid)
conf38 = wi.HBox((but31, but32), layout=wi.Layout(margin='10px 0 0 0'))
#######################################################################
# MPC OPTIONS
#######################################################################
lay1 = wi.Layout(width='60px', margin='0 10px 0 25px')
lay2 = wi.Layout(width='95px', margin='0 20px 0 10px')
lay3 = wi.Layout(width='55px', margin='0 20px 0 10px')
self._conf40 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>SOLVER:</b></p>',
layout=lay1),
wi.Dropdown(options=['1 - APOPT', '2 - BPOPT', '3 - IPOPT'],
value='1 - APOPT',
layout=wi.Layout(width='100px')),
wi.HTML(value='<p style="text-align: right;"><b>CVTYPE:</b></p>',
layout=lay1),
wi.Dropdown(options=['1 - Deadband', '2 - Trajectory'],
value='1 - Deadband',
layout=wi.Layout(width='130px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
conf41 = wi.Button(description='TEMPERATURE 01',
disabled=True,
layout=wi.Layout(width='360px', margin='0 0 0 0'))
self._conf42 = wi.HBox((
wi.HTML(value='<p style="text-align: right;">'
'<b>Deadband (K):</b></p>',
layout=lay2),
wi.FloatSlider(value=0.1, min=0.1, max=1.0, step=0.1,
description='', style=style,
layout=wi.Layout(width='250px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
self._conf43 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>TAU:</b></p>',
layout=lay2),
wi.FloatSlider(value=10.0, min=1.0, max=100.0, step=1.0,
description='', style=style,
layout=wi.Layout(width='250px'))))
box41 = wi.VBox((conf41, self._conf42, self._conf43),
layout=wi.Layout(border='solid 2px gray',
width='365px',
margin='10px 0 0 0'))
conf44 = wi.Button(description='TEMPERATURE 02',
disabled=True,
layout=wi.Layout(width='360px', margin='0 0 0 0'))
self._conf45 = wi.HBox((
wi.HTML(value='<p style="text-align: right;">'
'<b>Deadband (K):</b></p>',
layout=lay2),
wi.FloatSlider(value=0.1, min=0.1, max=1.0, step=0.1,
description='', style=style,
layout=wi.Layout(width='250px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
self._conf46 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>TAU:</b></p>',
layout=lay2),
wi.FloatSlider(value=10.0, min=1.0, max=100.0, step=1.0,
description='', style=style,
layout=wi.Layout(width='250px'))))
box42 = wi.VBox((conf44, self._conf45, self._conf46),
layout=wi.Layout(border='solid 2px gray',
width='365px',
margin='10px 0 0 0'))
conf47 = wi.Button(description='HEATER 01',
disabled=True,
layout=wi.Layout(width='320px', margin='0 0 0 0'))
self._conf48 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>DMAX:</b></p>',
layout=lay3),
wi.FloatSlider(value=30.0, min=1.0, max=100.0, step=0.5,
description='', style=style,
layout=wi.Layout(width='250px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
self._conf49 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>DCOST:</b></p>',
layout=lay3),
wi.FloatSlider(value=1.0, min=0.0, max=10.0, step=0.1,
description='', style=style,
layout=wi.Layout(width='250px'))))
box43 = wi.VBox((conf47, self._conf48, self._conf49),
layout=wi.Layout(border='solid 2px gray',
width='325px',
margin='10px 0 0 10px'))
conf410 = wi.Button(description='HEATER 02',
disabled=True,
layout=wi.Layout(width='320px', margin='0 0 0 0'))
self._conf411 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>DMAX:</b></p>',
layout=lay3),
wi.FloatSlider(value=30.0, min=1.0, max=100.0, step=0.5,
description='', style=style,
layout=wi.Layout(width='250px'))),
layout=wi.Layout(margin='5px 0 0 0')
)
self._conf412 = wi.HBox((
wi.HTML(value='<p style="text-align: right;"><b>DCOST:</b></p>',
layout=lay3),
wi.FloatSlider(value=1.0, min=0.0, max=10.0, step=0.1,
description='', style=style,
layout=wi.Layout(width='250px'))))
box44 = wi.VBox((conf410, self._conf411, self._conf412),
layout=wi.Layout(border='solid 2px gray',
width='325px',
margin='10px 0 0 10px'))
but41 = wi.Button(description='Apply', icon='check',
layout=wi.Layout(width='100px', height='32px'))
but41.on_click(self._conf_mpc)
but42 = wi.Button(description='Reset', icon='refresh',
layout=wi.Layout(width='100px', height='32px'))
but42.on_click(self._reset_mpc)
conf413 = wi.HBox((but41, but42),
layout=wi.Layout(margin='10px 0 0 0'))
#######################################################################
# CONFIGURATOR LAYOUT
#######################################################################
tab = wi.Tab([wi.VBox((self._conf11, self._conf12,
wi.Label(layout=wi.Layout(height='206px')),
conf13)),
wi.VBox((wi.HBox((box21, box22)),
wi.Label(layout=wi.Layout(height='191px')),
conf24)),
wi.VBox((wi.HBox((box31, box32)),
wi.Label(layout=wi.Layout(height='127px')),
conf38)),
wi.VBox((self._conf40,
wi.HBox((box41, box43)),
wi.HBox((box42, box44)),
wi.Label(layout=wi.Layout(height='11px')),
conf413))],
layout=wi.Layout(width='800px', height='380px'))
tab.set_title(0, 'General Options')
tab.set_title(1, 'On-Off Options')
tab.set_title(2, 'PID Options')
tab.set_title(3, 'MPC Options')
#######################################################################
# DISPLAY CONFIGURATOR
#######################################################################
self._conf = tab
def app(self):
display(self._gui)
def config(self):
display(self._conf)
def _conf_general(self, b):
self._delta_t = self._conf11.children[1].value
self._maxtime = int(500/self._delta_t)
self._sleep = self._conf12.children[1].value
def _reset_general(self, b):
self._conf11.children[1].value = 4.0
self._delta_t = self._conf11.children[1].value
self._maxtime = int(500/self._delta_t)
self._conf12.children[1].value = 0.5
self._sleep = self._conf12.children[1].value
def _conf_on_off(self, b):
self._q1_dt_on_off = self._conf21.children[1].value
self._q2_dt_on_off = self._conf23.children[1].value
def _reset_on_off(self, b):
self._conf21.children[1].value = 0.1
self._q1_dt_on_off = self._conf21.children[1].value
self._conf23.children[1].value = 0.1
self._q2_dt_on_off = self._conf23.children[1].value
def _conf_pid(self, b):
self._pid1_gain = self._conf31.children[1].value
self._pid1_reset = self._conf32.children[1].value
self._pid1_rate = self._conf33.children[1].value
self._pid2_gain = self._conf35.children[1].value
self._pid2_reset = self._conf36.children[1].value
self._pid2_rate = self._conf37.children[1].value
def _reset_pid(self, b):
self._conf31.children[1].value = 10.0 # gain
self._conf32.children[1].value = 50.0 # reset
self._conf33.children[1].value = 1.0 # rate
self._pid1_gain = self._conf31.children[1].value
self._pid1_reset = self._conf32.children[1].value
self._pid1_rate = self._conf33.children[1].value
self._conf35.children[1].value = 10.0 # gain
self._conf36.children[1].value = 50.0 # reset
self._conf37.children[1].value = 1.0 # rate
self._pid2_gain = self._conf35.children[1].value
self._pid2_reset = self._conf36.children[1].value
self._pid2_rate = self._conf37.children[1].valu
def _conf_mpc(self, b):
self._SOLVER = self._conf40.children[1].value
self._CVTYPE = self._conf40.children[3].value
self._T1_dt = self._conf42.children[1].value
self._T1_tau = self._conf43.children[1].value
self._T2_dt = self._conf45.children[1].value
self._T2_tau = self._conf46.children[1].value
self._Q1_DMAX = self._conf48.children[1].value
self._Q1_DCOST = self._conf49.children[1].value
self._Q2_DMAX = self._conf411.children[1].value
self._Q2_DCOST = self._conf412.children[1].value
def _reset_mpc(self, b):
self._conf40.children[1].value = '1 - APOPT'
self._conf40.children[3].value = '1 - Deadband'
self._conf42.children[1].value = 0.1
self._conf43.children[1].value = 30.
self._conf45.children[1].value = 0.1
self._conf46.children[1].value = 30.
self._conf48.children[1].value = 30.
self._conf49.children[1].value = 1.
self._conf411.children[1].value = 30.
self._conf412.children[1].value = 1.
self._SOLVER = self._conf40.children[1].value
self._CVTYPE = self._conf40.children[3].value
self._T1_dt = self._conf42.children[1].value
self._T1_tau = self._conf43.children[1].value
self._T2_dt = self._conf45.children[1].value
self._T2_tau = self._conf46.children[1].value
self._Q1_DMAX = self._conf48.children[1].value
self._Q1_DCOST = self._conf49.children[1].value
self._Q2_DMAX = self._conf411.children[1].value
self._Q2_DCOST = self._conf412.children[1].value
def _Q1_click(self, b):
self._Q10 = self._wQ1.value
def _Q2_click(self, b):
self._Q20 = self._wQ2.value
def _T1_click(self, b):
self._T1_SP = self._wT1.value
def _T2_click(self, b):
self._T2_SP = self._wT2.value
def _stop_click(self, b):
self._flag = False
self._mode.disabled = False
def _play_click(self, b):
if not self._flag:
if self._mode.value == "Manual":
self._flag = True
self._mode.disabled = True
thread = threading.Thread(target=self._work_man)
thread.start()
elif self._mode.value == "On-Off":
self._flag = True
self._mode.disabled = True
thread = threading.Thread(target=self._work_on_off)
thread.start()
elif self._mode.value == "PID":
self._flag = True
self._mode.disabled = True
thread = threading.Thread(target=self._work_pid)
thread.start()
elif self._mode.value == "MPC":
self._flag = True
self._mode.disabled = True
thread = threading.Thread(target=self._work_mpc)
thread.start()
def _mode_switch(self, value):
# Reinitialize parameters
self._T1_SP = 30
self._T2_SP = 30
self._Q10 = 0
self._Q20 = 0
# Reset figures
self._T1_meas.x = []
self._T1_meas.y = []
self._T2_meas.x = []
self._T2_meas.y = []
self._T1_set_point.x = []
self._T1_set_point.y = []
self._T2_set_point.x = []
self._T2_set_point.y = []
self._u1.x = []
self._u1.y = []
self._u2.x = []
self._u2.y = []
# Reset controls
self._PT1.value = self._Tc0[0]-273.15
self._PT2.value = self._Tc0[1]-273.15
self._wT1.value = self._T1_SP
self._wT2.value = self._T2_SP
self._wQ1.value = self._Q10
self._wQ2.value = self._Q20
if value['new'] == "Manual":
self._wQ1.disabled = False
self._tQ1.disabled = False
self._bQ1.disabled = False
self._wT1.disabled = True
self._tT1.disabled = True
self._bT1.disabled = True
self._wQ2.disabled = False
self._tQ2.disabled = False
self._bQ2.disabled = False
self._wT2.disabled = True
self._tT2.disabled = True
self._bT2.disabled = True
else:
self._wQ1.disabled = True
self._tQ1.disabled = True
self._bQ1.disabled = True
self._wT1.disabled = False
self._tT1.disabled = False
self._bT1.disabled = False
self._wQ2.disabled = True
self._tQ2.disabled = True
self._bQ2.disabled = True
self._wT2.disabled = False
self._tT2.disabled = False
self._bT2.disabled = False
###########################################################################
# PID CONTROLLER
###########################################################################
# inputs -----------------------------------
# sp = setpoint
# pv = current temperature
# pv_last = prior temperature
# ierr = integral error
# dt = time increment between measurements
# outputs ----------------------------------
# op = output of the PID controller
# I = integral contribution
def _PID(self, sp, pv, pv_last, ierr, dt, Kc=10.0, tauI=50.0, tauD=1.0):
# Default Parameters
# Kc = 10.0 # K/%Heater
# tauI = 50.0 # sec
# tauD = 1.0 # sec
# Parameters in terms of PID coefficients
KP = Kc
if tauI == 0:
KI = 1e5
else:
KI = Kc/tauI
KD = Kc*tauD
# ubias for controller (initial heater)
op0 = 0
# upper and lower bounds on heater level
ophi = 100
oplo = 0
# calculate the error
error = sp-pv
# calculate the integral error
ierr = ierr + KI * error * dt
# calculate the measurement derivative
dpv = (pv - pv_last) / dt
# calculate the PID output
P = KP * error
I = ierr
D = -KD * dpv
op = op0 + P + I + D
# implement anti-reset windup
if op < oplo or op > ophi:
I = I - KI * error * dt
# clip output
op = max(oplo, min(ophi, op))
# return the controller output and PID terms
return [op, I]
###########################################################################
# MPC
###########################################################################
def _MPC(self):
m = GEKKO(remote=False)
# 60 second time horizon, 4 sec cycle time, non-uniform
m.time = [0, 4, 8, 12, 15, 20, 25, 30, 35, 40, 50, 60, 70, 80, 90]
# Parameters
m.U = m.FV(value=10)
m.tau = m.FV(value=5)
m.alpha1 = m.FV(value=0.01) # W / % heater
m.alpha2 = m.FV(value=0.0075) # W / % heater
# Manipulated variables
m.Q1 = m.MV(value=0)
m.Q1.STATUS = 1 # use to control temperature
m.Q1.FSTATUS = 0 # no feedback measurement
m.Q1.LOWER = 0.0
m.Q1.UPPER = 100.0
m.Q1.DMAX = 20.0
m.Q1.COST = 0.0
m.Q1.DCOST = 2.0
m.Q2 = m.MV(value=0)
m.Q2.STATUS = 1 # use to control temperature
m.Q2.FSTATUS = 0 # no feedback measurement
m.Q2.LOWER = 0.0
m.Q2.UPPER = 100.0
m.Q2.DMAX = 20.0
m.Q2.COST = 0.0
m.Q2.DCOST = 2.0
# Controlled variable
m.TC1 = m.CV(value=22)
m.TC1.STATUS = 1 # minimize error with setpoint range
m.TC1.FSTATUS = 1 # receive measurement
m.TC1.TR_INIT = 1 # reference trajectory
m.TC1.TAU = 10 # time constant for response
# Controlled variable
m.TC2 = m.CV(value=22)
m.TC2.STATUS = 1 # minimize error with setpoint range
m.TC2.FSTATUS = 1 # receive measurement
m.TC2.TR_INIT = 1 # reference trajectory
m.TC2.TAU = 10 # time constant for response
# State variables
m.TH1 = m.SV(value=22)
m.TH2 = m.SV(value=22)
m.Ta = m.Param(value=23.0+273.15) # K
m.mass = m.Param(value=4.0/1000.0) # kg
m.Cp = m.Param(value=0.5*1000.0) # J/kg-K
m.A = m.Param(value=10.0/100.0**2) # Area not between heaters in m^2
m.As = m.Param(value=2.0/100.0**2) # Area between heaters in m^2
m.eps = m.Param(value=0.9) # Emissivity
m.sigma = m.Const(5.67e-8) # Stefan-Boltzmann
# Heater temperatures
m.T1i = m.Intermediate(m.TH1+273.15)
m.T2i = m.Intermediate(m.TH2+273.15)
# Heat transfer between two heaters
m.Q_C12 = m.Intermediate(m.U*m.As*(m.T2i-m.T1i)) # Conv
m.Q_R12 = m.Intermediate(m.eps*m.sigma*m.As*(m.T2i**4-m.T1i**4)) # Rad
# Semi-fundamental correlations (energy balances)
m.Equation(m.TH1.dt() == (1.0/(m.mass*m.Cp)) *
(m.U*m.A*(m.Ta-m.T1i) +
m.eps * m.sigma * m.A *
(m.Ta**4 - m.T1i**4) + m.Q_C12 +
m.Q_R12 + m.alpha1*m.Q1))
m.Equation(m.TH2.dt() == (1.0/(m.mass*m.Cp)) *
(m.U*m.A*(m.Ta-m.T2i) +
m.eps * m.sigma * m.A *
(m.Ta**4 - m.T2i**4) - m.Q_C12 -
m.Q_R12 + m.alpha2*m.Q2))
# Empirical correlations (lag equations to emulate conduction)
m.Equation(m.tau * m.TC1.dt() == -m.TC1 + m.TH1)
m.Equation(m.tau * m.TC2.dt() == -m.TC2 + m.TH2)
# Global Options
m.options.IMODE = 6 # MPC
m.options.CV_TYPE = 1 # Objective type
m.options.NODES = 3 # Collocation nodes
m.options.SOLVER = 3 # 1=APOPT, 3=IPOPT
return m
###########################################################################
# THREADING FUNCTION - OPEN LOOP
###########################################################################
def _work_man(self):
try:
a = TCLab()
except: