{ "cells": [ { "cell_type": "markdown", "metadata": { "nbpages": { "level": 0, "link": "[](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html)", "section": "" } }, "source": [ "\n", "*This notebook contains material from [CBE32338](https://jckantor.github.io/CBE32338);\n", "content is available [on Github](https://github.com/jckantor/CBE32338.git).*\n" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 0, "link": "[](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html)", "section": "" } }, "source": [ "\n", "< [4.0 Feedback Control](https://jckantor.github.io/CBE32338/04.00-Feedback-Control.html) | [Contents](toc.html) | [4.3 PID Control](https://jckantor.github.io/CBE32338/04.03-PID_Control.html) >

\"Open

\"Download\"" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 1, "link": "[4.1 Relay Control](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1-Relay-Control)", "section": "4.1 Relay Control" } }, "source": [ "# 4.1 Relay Control" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.1.1 Simple Relay Control](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.1-Simple-Relay-Control)", "section": "4.1.1 Simple Relay Control" } }, "source": [ "## 4.1.1 Simple Relay Control\n", "\n", "The following code implements relay control for temperature T1 on the Temperature Control Lab.\n", "\n", "\\begin{align}\n", "Q(t) & = \\begin{cases} \n", " Q^{max} &\\text{if $T \\leq T_{setpoint}$}\\\\\n", " 0 & \\text{if $T \\geq T_{setpoint}$}\n", " \\end{cases}\n", "\\end{align}\n", "\n", "This is simple to implement, in fact it is just one line of code in the following cell. Adjust `Tsetpoint` to a desired setpoint value, then run the cell." ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "nbpages": { "level": 2, "link": "[4.1.1 Simple Relay Control](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.1-Simple-Relay-Control)", "section": "4.1.1 Simple Relay Control" } }, "outputs": [ { "data": { "image/png": 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OXKT3SQAzmwW8E/i9mWUCSwgS5pfcPdqlUZ6EzMxMysvLyc3tXTMcuDvl5eVk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\nD0lPSFqVPO6edpx9haS7JK2XtKygrcN8KO+WZDz9VtJh6UX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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab disconnected successfully.\n" ] }, { "data": { "image/png": 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OXKT3SQAzmwW8E/i9mWUCSwgS5pfcPdqlUZ6EzMxMysvLyc3tXTMcuDvl5eVk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\n7fy0SeOzqkSfu+66K83NzRWK6LNaW1u7PP68efO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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "%matplotlib inline\n", "from tclab import TCLab, clock, Historian\n", "\n", "# control parameters\n", "Qmax = 100\n", "Tsetpoint = 40\n", "\n", "# time horizon and time step\n", "tfinal = 300\n", "tstep = 1\n", "\n", "# perform experiment\n", "with TCLab() as a:\n", " h = Historian(a)\n", " h.initplot(tfinal)\n", " for t in clock(tfinal, tstep):\n", " T1 = a.T1 # measure temperature\n", " Q1 = Qmax if a.T1 < Tsetpoint else 0 # compute manipulated variable\n", " a.Q1(Q1) # adjust power\n", " h.update(t) # log results" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.1.2 Relay Control with Hysteresis](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.2-Relay-Control-with-Hysteresis)", "section": "4.1.2 Relay Control with Hysteresis" } }, "source": [ "## 4.1.2 Relay Control with Hysteresis\n", "\n", "One of the issues with simple relay control is the potential for 'chattering', which are situations where the manipulated variable (in this case heater power) rapid on-and-off switching. This can be caused by systems that are highly response to control inputs or where the sensor measurements carry significant noise.\n", "\n", "The typical home thermostat used for furnace control incorporates a simple but highly effective solution to the chattering period. The idea is to intentially overshoot the setpoint. Then, after the control switches state, there will be at least a short period of time where no further control action should be necessary. The control algorithm can be written\n", "\n", "\\begin{align}\n", "Q(t) & = \\begin{cases} \n", " 0 & \\text{if $T \\geq T_{Setpoint} - \\frac{d}{2}$}\\\\\n", " Q^{max} &\\text{if $T \\leq T_{Setpoint} + \\frac{d}{2}$}\\\\\n", " Q(t-\\delta t) & \\mbox{otherwise}\n", " \\end{cases}\n", "\\end{align}\n", "\n", "where $d$ is the *tolerance* or *hysteresis*. For home heating systems a typical value is in the range of 0.5 to 1 degree F. This image shows how hystersis was adjusted on a typical home thermostat in common usage in the late 20th century.\n", "\n", "\"Honeywell\n", "\n", "The furnance is turned on for temperatures below the range \n", "\n", "\\begin{align}\n", "T_{Setpoint} - \\frac{d}{2} \\leq T \\leq T_{Setpoint} + \\frac{d}{2}\n", "\\end{align}\n", "\n", "and is turned for temperatures above the range. Within the range, however, the furnance may be on or off depending on what happened at the last decision point.\n", "\n", "The following code implements relay control with hystersis. " ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "nbpages": { "level": 2, "link": "[4.1.2 Relay Control with Hysteresis](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.2-Relay-Control-with-Hysteresis)", "section": "4.1.2 Relay Control with Hysteresis" } }, "outputs": [ { "data": { "image/png": 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ux8iBfeiXkcoHThrR4T1gvY3ZwXb/zLnjOXHkAF5Zs7tJ0rp0aynLtu7n5j+9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\nARwDrAM+BSyLiFZgWTJdlyKC888/n1mzZtHe3k5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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab disconnected successfully.\n" ] }, { "data": { "image/png": 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ux8iBfeiXkcoHThrR4T1gvY3ZwXb/zLnjOXHkAF5Zs7tJ0rp0aynLtu7n5j+9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\nARwDrAM+BSyLiFZgWTJdlyKC888/n1mzZtHe3k5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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "%matplotlib inline\n", "from tclab import TCLab, clock, Historian\n", "\n", "# control parameters\n", "Qmax = 100\n", "Tsetpoint = 50\n", "d = 0.5\n", "\n", "# time horizon and time step\n", "tfinal = 300\n", "tstep = 1\n", "\n", "# perform experiment\n", "with TCLab() as a:\n", " h = Historian(a)\n", " h.initplot(tfinal)\n", " Q1 = a.Q1()\n", " for t in clock(tfinal, tstep):\n", " T1 = a.T1\n", " if T1 <= Tsetpoint - d/2:\n", " Q1 = Qmax\n", " if T1 >= Tsetpoint + d/2:\n", " Q1 = 0\n", " a.Q1(Q1)\n", " h.update()" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.1.3 Multivariable On-Off Control](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.3-Multivariable-On-Off-Control)", "section": "4.1.3 Multivariable On-Off Control" } }, "source": [ "## 4.1.3 Multivariable On-Off Control" ] }, { "cell_type": "code", "execution_count": 3, "metadata": { "nbpages": { "level": 2, "link": "[4.1.3 Multivariable On-Off Control](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.3-Multivariable-On-Off-Control)", "section": "4.1.3 Multivariable On-Off Control" } }, "outputs": [ { "data": { "image/png": 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QUnHoTvanFm/nr2+sa3CDFgQ3Ytx/bede6lqy7QB3PbOCurz0/ImD+cJ54+LS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\n/gWAiLh8sPe88+07x82fPjCjCFvPpD13yaSfNc/1ZtJPtbZ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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab disconnected successfully.\n" ] }, { "data": { "image/png": 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QUnHoTvanFm/nr2+sa3CDFgQ3Ytx/bede6lqy7QB3PbOCurz0/ImD+cJ54+LS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\naz8HH3wwDzzwQL+29evXs27dOrq6uujp6eGDH/w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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "%matplotlib inline\n", "from tclab import TCLab, clock, Historian\n", "\n", "Tsetpoint1 = 45\n", "Tsetpoint2 = 35\n", "Qmax = 100\n", "tfinal = 480\n", "d = 0.5\n", "\n", "with TCLab() as a:\n", " h = Historian(a)\n", " h.initplot(tfinal)\n", " Q1 = a.Q1()\n", " Q2 = a.Q2()\n", " for t in clock(tfinal):\n", " T1 = a.T1\n", " if T1 <= Tsetpoint1 - d/2:\n", " Q1 = Qmax\n", " if T1 >= Tsetpoint1 + d/2:\n", " Q1 = 0\n", " a.Q1(Q1)\n", "\n", " T2 = a.T2\n", " if T2 <= Tsetpoint2 - d/2:\n", " Q2 = Qmax\n", " if T2 >= Tsetpoint2 + d/2:\n", " Q2 = 0\n", " a.Q2(Q2)\n", " h.update()" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.1.4 Exercises](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.4-Exercises)", "section": "4.1.4 Exercises" } }, "source": [ "## 4.1.4 Exercises\n", "\n", "1. Examining the closed-loop responses, it's obvious that the heater is oversized for the purpose of control at 40 deg C. Try other values for $Q^{\\max}$ to see if you can improve closed-loop performance.\n", "\n", "2. What is the effect of sample time on control performance? What happens if you make the controller sample time longer?\n", "\n", "3. In a new cell, create a modification of the script to include a change in setpoint from 40 deg C to 50 deg C at the 300 second mark. Run the experiment for at least 10 minutes to see the full effect.\n", "\n", "4. For a relay control with hystersis, try to sketch a graph of $Q$ as a function of $T$ assuming $T_{Setpoint} = 50$ and $h = 3$. Can you draw a unique function? Why not?" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "nbpages": { "level": 2, "link": "[4.1.4 Exercises](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.4-Exercises)", "section": "4.1.4 Exercises" } }, "outputs": [], "source": [] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.1.4 Exercises](https://jckantor.github.io/CBE32338/04.01-Relay-Control.html#4.1.4-Exercises)", "section": "4.1.4 Exercises" } }, "source": [ "\n", "< [4.0 Feedback Control](https://jckantor.github.io/CBE32338/04.00-Feedback-Control.html) | [Contents](toc.html) | [4.3 PID Control](https://jckantor.github.io/CBE32338/04.03-PID_Control.html) >

\"Open

\"Download\"" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.6.8" } }, "nbformat": 4, "nbformat_minor": 2 }