From: Steven Baltakatei Sandoval Date: Sun, 31 Oct 2021 04:08:05 +0000 (+0000) Subject: feat(bktemp-updateLoopPI):Add argument for initial CV bias X-Git-Tag: 0.5.0~38 X-Git-Url: https://zdv2.bktei.com/gitweb/BK-2020-03.git/commitdiff_plain/77c52629945029642045e6ee132e063927400c10?ds=sidebyside;hp=--cc feat(bktemp-updateLoopPI):Add argument for initial CV bias - note: Additinoal argument helps prevent initial jerk caused by high initial error if set to correct value. --- 77c52629945029642045e6ee132e063927400c10 diff --git a/unitproc/bktemp-updateLoopPI b/unitproc/bktemp-updateLoopPI index d01e6b4..84adb77 100644 --- a/unitproc/bktemp-updateLoopPI +++ b/unitproc/bktemp-updateLoopPI @@ -8,18 +8,20 @@ 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 + # Usage: update_pi arg1 arg2 arg3 arg4 arg5 arg6 + # Version: 0.1.0 # 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) + # arg6: var_cv_bias (control variable bias; prevents initial jerk) # Output: stdout: var_cv (control variable) # file: path_var_pv # file: path_var_sp # file: path_tune_p # file: path_tune_i + # file: path_var_cv # 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() @@ -55,6 +57,10 @@ update_pi() { tune_i="$5"; fi; + path_var_cv="$path_loop_name".cv + + var_cv_bias="$6"; + path_sum="$path_loop_name".sum if [[ -f "$path_sum" ]]; then sum="$(cat "$path_sum" | head -n1)"; @@ -65,6 +71,7 @@ update_pi() { #yell "DEBUG:path_loop_name:$path_loop_name"; #yell "DEBUG:var_pv:$var_pv"; #yell "DEBUG:var_sp:$var_sp"; + #yell "DEBUG:var_cv:$var_cv"; #yell "DEBUG:tune_p:$tune_p"; #yell "DEBUG:tune_i:$tune_i"; @@ -76,7 +83,7 @@ update_pi() { #yell "DEBUG:term_p:$term_p"; term_i="$(try echo "$tune_i * $sum" | bc -l)"; #yell "DEBUG:term_i:$term_i"; - var_cv="$(try echo "$term_p + $term_i" | bc -l)"; + var_cv="$(try echo "$term_p + $term_i + $var_cv_bias" | bc -l)"; #yell "DEBUG:var_cv:$var_cv"; # Write variables to memory @@ -85,6 +92,7 @@ update_pi() { echo "$var_pv" > "$path_var_pv"; echo "$tune_p" > "$path_tune_p"; echo "$tune_i" > "$path_tune_i"; + echo "$var_cv" > "$path_var_cv"; # Output control variable to stdout echo "$var_cv"; @@ -99,42 +107,43 @@ var_pv=1.0; var_sp=2.0; tune_p=1.0; tune_i=0.1; +var_cv_init=1000; try rm "$path_loop_name"* var_pv=4.0; -output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" | tail -n1)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(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)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(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)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(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)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(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)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(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)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(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)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(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)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(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)"; +output="$(update_pi "$path_loop_name" "$var_pv" "$var_sp" "$tune_p" "$tune_i" "$var_cv_init" | tail -n1)"; yell "DEBUG:sum:$(cat "$path_loop_name".sum | head -n1)"; yell "DEBUG:output:$output"; #==END Example code==