debug speed control algorithm #7

scripts/speed_controller.py

@@ -17,8 +17,6 @@ variable_control_step_U_1: str = "control_step_U_1"
 variable_control_step_rpm_1: str = "control_step_rpm_1"
 variable_control_step_U_2: str = "control_step_U_2"
 variable_control_step_rpm_2: str = "control_step_rpm_2"
-variable_control_step_U_3: str = "control_step_U_3"
-variable_control_step_rpm_3: str = "control_step_rpm_3"
 
 #init variables in variables system
 if get_variable(variable_actual_rpm) == None:
@@ -40,22 +38,16 @@ if get_variable(variable_control_step_rpm) == None:
     set_variable(variable_control_step_rpm, 200, True)
 
 if get_variable(variable_control_step_U_1) == None:
-    set_variable(variable_control_step_U_1, 0.003, True)
+    set_variable(variable_control_step_U_1, 0.01, True)
 
 if get_variable(variable_control_step_rpm_1) == None:
-    set_variable(variable_control_step_rpm_1, 80, True)
+    set_variable(variable_control_step_rpm_1, 100, True)
 
 if get_variable(variable_control_step_U_2) == None:
-    set_variable(variable_control_step_U_2, 0.0005, True)
+    set_variable(variable_control_step_U_2, 0.001, True)
 
 if get_variable(variable_control_step_rpm_2) == None:
-    set_variable(variable_control_step_rpm_2, 20, True)
+    set_variable(variable_control_step_rpm_2, 5, True)
-
-if get_variable(variable_control_step_U_3) == None:
-    set_variable(variable_control_step_U_3, 0.0001, True)
-
-if get_variable(variable_control_step_rpm_3) == None:
-    set_variable(variable_control_step_rpm_3, 1, True)
 
 if get_variable(variable_control_stack) == None:
     set_variable(variable_control_stack, 0, True)
@@ -69,10 +61,12 @@ def set_output(value: float):
     if value < float(get_variable(variable_max_U)):
         set_0_10_out(stack=int(get_variable(variable_control_stack)), channel=int(get_variable(variable_control_channel)), value=value)
 
+def printer(text):
+    if True:
+        print(text)
 
 #control RPM
 def rpm_control():
-    print("control_RPM")
     actual_rpm = float(get_variable(variable_actual_rpm))
     requested_rpm = float(get_variable(variable_requested_rpm))
     actual_set_U = read_0_10_out(stack=int(get_variable(variable_control_stack)), channel=int(get_variable(variable_control_channel)))
@@ -89,22 +83,40 @@ def rpm_control():
         return
     
     #algorithm for RPM control
-    if (requested_rpm - float(get_variable(variable_control_step_rpm_3))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_3))):
+    if (requested_rpm - float(get_variable(variable_control_step_rpm))) > actual_rpm:
-        if requested_rpm < actual_rpm:
+        set_output(actual_set_U + float(variable_control_step_U))
-            set_output(actual_set_U - float(get_variable(variable_control_step_U_3)))
+        printer("(requested_rpm - float(get_variable(variable_control_step_rpm))) > actual_rpm")
-        elif requested_rpm > actual_rpm:
-            set_output(actual_set_U + float(get_variable(variable_control_step_U_3)))
-        print("control_4")
         return
     
-    if (requested_rpm - float(get_variable(variable_control_step_rpm_2))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_2))):
+    elif (requested_rpm + float(get_variable(variable_control_step_rpm))) < actual_rpm:
-        if requested_rpm < actual_rpm:
+        set_output(actual_set_U - float(variable_control_step_U))
-            set_output(actual_set_U - float(get_variable(variable_control_step_U_2)))
+        printer("(requested_rpm + float(get_variable(variable_control_step_rpm))) < actual_rpm")
-        elif requested_rpm > actual_rpm:
-            set_output(actual_set_U + float(get_variable(variable_control_step_U_2)))
-        print("control_3")
         return
-        
+
+    if (requested_rpm - float(get_variable(variable_control_step_rpm_1))) > actual_rpm:
+        set_output(actual_set_U + float(variable_control_step_U_1))
+        printer("(requested_rpm - float(get_variable(variable_control_step_rpm_1))) > actual_rpm")
+        return
+
+    elif (requested_rpm + float(get_variable(variable_control_step_rpm_1))) < actual_rpm:
+        set_output(actual_set_U - float(variable_control_step_U_1))
+        printer("(requested_rpm + float(get_variable(variable_control_step_rpm_1))) < actual_rpm")
+        return
+
+    if (requested_rpm - float(get_variable(variable_control_step_rpm_2))) > actual_rpm:
+        set_output(actual_set_U + float(variable_control_step_U_2))
+        printer("(requested_rpm - float(get_variable(variable_control_step_rpm_2))) > actual_rpm")
+        return
+
+    elif (requested_rpm + float(get_variable(variable_control_step_rpm_2))) < actual_rpm:
+        set_output(actual_set_U - float(variable_control_step_U_2))
+        printer("(requested_rpm + float(get_variable(variable_control_step_rpm_2))) < actual_rpm")
+        return
+    
+    print("empty_run")
+
+"""
+
     if (requested_rpm - float(get_variable(variable_control_step_rpm_1))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_1))):
         if requested_rpm < actual_rpm:
             set_output(actual_set_U - float(get_variable(variable_control_step_U_1)))
@@ -120,8 +132,7 @@ def rpm_control():
             set_output(actual_set_U + float(get_variable(variable_control_step_U)))
         print("control_1")
         return
-    
+    """
-    print("empty_run")
 
     
     

scripts/speed_reader.py

@@ -2,8 +2,6 @@ from src.variables.service import get_variable, set_variable
 from gpiozero import Button
 import datetime
 
-#from scripts.speed_controller import rpm_control
-
 pulses_per_rotation = 4
 reader = Button(4, pull_up=False, bounce_time=0.0005)
 set_variable("speed_reader_last_impulse_time", datetime.datetime.now(), False)
@@ -23,7 +21,6 @@ def event():
 
     set_variable("actual_rpm", round(actual_rpm, 1), False)
     print(round(actual_rpm, 1))
-#    rpm_control()