From: Steven Baltakatei Sandoval Date: Sun, 31 Oct 2021 03:41:31 +0000 (+0000) Subject: feat(unitproc):Add PI loop updater X-Git-Tag: 0.5.0~40 X-Git-Url: https://zdv2.bktei.com/gitweb/BK-2020-03.git/commitdiff_plain/5113c9ac659baf9aa3612e31e4d0aaf7d39ea62d?ds=inline;hp=-c feat(unitproc):Add PI loop updater --- 5113c9ac659baf9aa3612e31e4d0aaf7d39ea62d diff --git a/unitproc/bktemp-updateLoopPI b/unitproc/bktemp-updateLoopPI new file mode 100644 index 0000000..d01e6b4 --- /dev/null +++ b/unitproc/bktemp-updateLoopPI @@ -0,0 +1,143 @@ +#!/bin/bash + +#==BEGIN function definition== +yell() { echo "$0: $*" >&2; } # print script path and all args to stderr +die() { yell "$*"; exit 111; } # same as yell() but non-zero exit status +try() { "$@" || die "cannot $*"; } # runs args as command, reports args if command fails +update_pi() { + # Desc: Calculates control variable (CV) given setpoint (SP) and + # process variable (PV). Uses proportional integral (PI) + # control. + # Usage: update_pi arg1 arg2 arg3 arg4 arg5 + # Version: 0.0.1 + # Input: arg1: path_loop_name (control loop name path) + # arg2: var_pv (process variable) + # arg3: var_sp (set point) + # arg4: tune_p (proportional tuning factor) + # arg5: tune_i (integral tuning factor) + # Output: stdout: var_cv (control variable) + # file: path_var_pv + # file: path_var_sp + # file: path_tune_p + # file: path_tune_i + # file: path_sum (saves updated sum state) + # Example: update_pi /dev/shm/DC1.AC 1.0 3.0 2.0 3.0 + # Depends: bc, gnu coreutils 8.30, yell(), try() + local var_sp var_pv var_cv; + local tune_p tune_i; + local term_p term_i; + local error sum; + local path_sum path_var_sp path_var_pv path_tune_p path_tune_i; + + path_loop_name="$1"; + + path_var_pv="$path_loop_name".pv + var_pv="$2"; # read provided process variable + + path_var_sp="$path_loop_name".sp + if [[ -f "$path_var_sp" ]]; then + var_sp="$(cat "$path_var_sp" | head -n1)"; + else + var_sp="$3"; + fi; + + path_tune_p="$path_loop_name".tune_p + if [[ -f "$path_tune_p" ]]; then + tune_p="$(cat "$path_tune_p" | head -n1)"; + else + tune_p="$4"; + fi; + + path_tune_i="$path_loop_name".tune_i + if [[ -f "$path_tune_i" ]]; then + tune_i="$(cat "$path_tune_i" | head -n1)"; + else + tune_i="$5"; + fi; + + path_sum="$path_loop_name".sum + if [[ -f "$path_sum" ]]; then + sum="$(cat "$path_sum" | head -n1)"; + else + sum=0; + fi; + + #yell "DEBUG:path_loop_name:$path_loop_name"; + #yell "DEBUG:var_pv:$var_pv"; + #yell "DEBUG:var_sp:$var_sp"; + #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 + $error" | bc -l)"; + #yell "DEBUG:sum:$sum"; + term_p="$(try echo "$tune_p * $error" | bc -l)"; + #yell "DEBUG:term_p:$term_p"; + term_i="$(try echo "$tune_i * $sum" | bc -l)"; + #yell "DEBUG:term_i:$term_i"; + var_cv="$(try echo "$term_p + $term_i" | bc -l)"; + #yell "DEBUG:var_cv:$var_cv"; + + # Write variables to memory + echo "$sum" > "$path_sum"; + echo "$var_sp" > "$path_var_sp"; + echo "$var_pv" > "$path_var_pv"; + echo "$tune_p" > "$path_tune_p"; + echo "$tune_i" > "$path_tune_i"; + + # Output control variable to stdout + echo "$var_cv"; + + #yell "DEBUG:=============END_ROUND==============="; +} +#==END function definition== + +#==BEGIN Example code== +path_loop_name="/tmp/DC1.AC"; +var_pv=1.0; +var_sp=2.0; +tune_p=1.0; +tune_i=0.1; +try rm "$path_loop_name"* + +var_pv=4.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +var_pv=4.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +var_pv=4.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +var_pv=4.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +var_pv=4.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +var_pv=1.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +var_pv=1.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +var_pv=1.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +var_pv=1.0; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; +yell "DEBUG:output:$output"; +#==END Example code== + +# Author: Steven Baltakatei Sandoval +# License: GPLv3+