feat(us/bk-copy-rand-music.sh):Add script

[BK-2020-03.git] / unitproc / bktemp-updateLoopPI

diff --git a/unitproc/bktemp-updateLoopPI b/unitproc/bktemp-updateLoopPI
index 84adb77be28b03112923739f52deb023facfae23..9054b90298b31df8373c76e89bae57b0dfd6bf97 100644 (file)
--- a/unitproc/bktemp-updateLoopPI
+++ b/unitproc/bktemp-updateLoopPI
@@ -9,7 +9,7 @@ update_pi() {
     #   process variable (PV). Uses proportional integral (PI)
     #   control.
     # Usage: update_pi arg1 arg2 arg3 arg4 arg5 arg6
     #   process variable (PV). Uses proportional integral (PI)
     #   control.
     # Usage: update_pi arg1 arg2 arg3 arg4 arg5 arg6

-    # Version: 0.1.0
+    # Version: 0.1.3

     # Input: arg1: path_loop_name (control loop name path)
     #        arg2: var_pv (process variable)
     #        arg3: var_sp (set point)
     # Input: arg1: path_loop_name (control loop name path)
     #        arg2: var_pv (process variable)
     #        arg3: var_sp (set point)


@@ -28,7 +28,7 @@ update_pi() {
     local var_sp var_pv var_cv;
     local tune_p tune_i;
     local term_p term_i;
     local var_sp var_pv var_cv;
     local tune_p tune_i;
     local term_p term_i;

-    local error sum;
+    local error sum sum_cand;

     local path_sum path_var_sp path_var_pv path_tune_p path_tune_i;
 
     path_loop_name="$1";
     local path_sum path_var_sp path_var_pv path_tune_p path_tune_i;
 
     path_loop_name="$1";


@@ -59,6 +59,7 @@ update_pi() {
 
     path_var_cv="$path_loop_name".cv
 
 
     path_var_cv="$path_loop_name".cv
 

+    path_var_cv_bias="$path_loop_name".cv_bias

     var_cv_bias="$6";
     
     path_sum="$path_loop_name".sum
     var_cv_bias="$6";
     
     path_sum="$path_loop_name".sum


@@ -72,13 +73,19 @@ update_pi() {
     #yell "DEBUG:var_pv:$var_pv";
     #yell "DEBUG:var_sp:$var_sp";
     #yell "DEBUG:var_cv:$var_cv";
     #yell "DEBUG:var_pv:$var_pv";
     #yell "DEBUG:var_sp:$var_sp";
     #yell "DEBUG:var_cv:$var_cv";

+    #yell "DEBUG:var_cv_bias:$var_cv_bias";

     #yell "DEBUG:tune_p:$tune_p";
     #yell "DEBUG:tune_i:$tune_i";
     
     error="$(try echo "$var_sp - $var_pv" | bc -l)";
     #yell "DEBUG:error:$error";
     #yell "DEBUG:tune_p:$tune_p";
     #yell "DEBUG:tune_i:$tune_i";
     
     error="$(try echo "$var_sp - $var_pv" | bc -l)";
     #yell "DEBUG:error:$error";

-    sum="$(try echo "$sum + $error" | bc -l)";
+    sum_cand="$(try echo "$sum + $error" | bc -l)";

     #yell "DEBUG:sum:$sum";
     #yell "DEBUG:sum:$sum";

+    if [[ "$(try echo "$sum_cand > 2 * $sum " | bc -l)" -eq 1 ]]; then
+       sum="$(try echo "$sum + l($error + 1)" | bc -l)"; # dampen integral sum spikes
+    else
+       sum="$sum_cand";
+    fi;

     term_p="$(try echo "$tune_p * $error" | bc -l)";
     #yell "DEBUG:term_p:$term_p";
     term_i="$(try echo "$tune_i * $sum" | bc -l)";
     term_p="$(try echo "$tune_p * $error" | bc -l)";
     #yell "DEBUG:term_p:$term_p";
     term_i="$(try echo "$tune_i * $sum" | bc -l)";


@@ -93,12 +100,13 @@ update_pi() {
     echo "$tune_p" > "$path_tune_p";
     echo "$tune_i" > "$path_tune_i";
     echo "$var_cv" > "$path_var_cv";
     echo "$tune_p" > "$path_tune_p";
     echo "$tune_i" > "$path_tune_i";
     echo "$var_cv" > "$path_var_cv";

+    echo "$var_cv_bias" > "$path_var_cv_bias";

 
     # Output control variable to stdout
     echo "$var_cv";
 
     #yell "DEBUG:=============END_ROUND===============";
 
     # Output control variable to stdout
     echo "$var_cv";
 
     #yell "DEBUG:=============END_ROUND===============";

-}
+} # update specified PI loop

 #==END function definition==
 
 #==BEGIN Example code==
 #==END function definition==
 
 #==BEGIN Example code==