{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "*This notebook contains material from [cbe30338-2021](https://jckantor.github.io/cbe30338-2021);\n", "content is available [on Github](https://github.com/jckantor/cbe30338-2021.git).*\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "< [3.8 Lab Assignment 4: Cascade Control](https://jckantor.github.io/cbe30338-2021/03.08-Lab-Assignment-Cascade-Control.html) | [Contents](toc.html) | [Tag Index](tag_index.html) | [4.0 Process Analytics](https://jckantor.github.io/cbe30338-2021/04.00-Process-Analytics.html) >

\"Open

\"Download\"" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 1, "link": "[3.9 Lab Assignment 4: Solution](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9-Lab-Assignment-4:-Solution)", "section": "3.9 Lab Assignment 4: Solution" } }, "source": [ "# 3.9 Lab Assignment 4: Solution" ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "nbpages": { "level": 1, "link": "[3.9 Lab Assignment 4: Solution](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9-Lab-Assignment-4:-Solution)", "section": "3.9 Lab Assignment 4: Solution" } }, "outputs": [], "source": [ "# import all libraries used for this assignment\n", "\n", "%matplotlib inline\n", "import matplotlib.pyplot as plt\n", "import numpy as np\n", "import pandas as pd\n", "\n", "# use least_squares for FOPDT model fitting\n", "from scipy.optimize import least_squares\n", "\n", "# tclab functions\n", "from tclab import TCLab, clock, Historian, Plotter, setup\n", "\n", "# operating system library for creating data folder" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 1, "link": "[3.9 Lab Assignment 4: Solution](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9-Lab-Assignment-4:-Solution)", "section": "3.9 Lab Assignment 4: Solution" } }, "source": [ "The following cell consolidates choices for parameters values used throughout this notebook." ] }, { "cell_type": "code", "execution_count": 7, "metadata": { "nbpages": { "level": 1, "link": "[3.9 Lab Assignment 4: Solution](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9-Lab-Assignment-4:-Solution)", "section": "3.9 Lab Assignment 4: Solution" } }, "outputs": [], "source": [ "# parameters used throughout this notebook\n", "P1 = 255\n", "P2 = 50\n", "\n", "# power levels used for step tests and performance evaluation\n", "Q1 = 50\n", "Q2 = 20\n", "\n", "# time grid\n", "t_step = 5\n", "t_final = 1000\n", "\n", "# tclab setup\n", "connected = False\n", "speedup = 20\n", "\n", "# data files \n", "if not os.path.exists('data'):\n", " os.makedirs('data')\n", "datafile_1 = os.path.join(\"data\", \"data_lab4_1.csv\")\n", "datafile_2 = os.path.join(\"data\", \"data_lab4_2.csv\")" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.9.1 Exercise 1. PI Control for T2 using Q1](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1-Exercise-1.-PI-Control-for-T2-using-Q1)", "section": "3.9.1 Exercise 1. PI Control for T2 using Q1" } }, "source": [ "## 3.9.1 Exercise 1. PI Control for T2 using Q1\n", "\n", "The exerise comprises of two basic steps:\n", "\n", "* Step 1: Step tests to identify FOPDT model for Q1 -> T2 dynamics. The same step test data will be used in exercise 2 for the Q1 -> T1 dynamics.\n", "* Step 2: Estimate PI controller constants and implement antiwindup PI control.\n", "* Step 3: Test controller for setpoint response and disturbance rejection.\n" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.9.1.1 Step 1: Model Identification](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.1-Step-1:-Model-Identification)", "section": "3.9.1.1 Step 1: Model Identification" } }, "source": [ "### 3.9.1.1 Step 1: Model Identification" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.1.1 Step Test](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.1.1-Step-Test)", "section": "3.9.1.1.1 Step Test" } }, "source": [ "#### 3.9.1.1.1 Step Test" ] }, { "cell_type": "code", "execution_count": 37, "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.1.1 Step Test](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.1.1-Step-Test)", "section": "3.9.1.1.1 Step Test" } }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "TCLab = setup(connected=connected, speedup=speedup if not connected else 1)\n", "with TCLab() as lab:\n", " lab.P1 = P1\n", " lab.P2 = P2\n", " h = Historian(lab.sources)\n", " p = Plotter(h, t_final)\n", " lab.Q1(Q1)\n", " for t in clock(t_final, t_step):\n", " p.update(t) \n", " h.to_csv(datafile_1)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.1.2 Verify data set](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.1.2-Verify-data-set)", "section": "3.9.1.1.2 Verify data set" } }, "source": [ "#### 3.9.1.1.2 Verify data set" ] }, { "cell_type": "code", "execution_count": 40, "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.1.2 Verify data set](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.1.2-Verify-data-set)", "section": "3.9.1.1.2 Verify data set" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ " Time T1 T2 Q1 Q2\n", "0 0.00 20.9495 20.9495 50 0\n", "1 5.00 20.9495 20.9495 50 0\n", "2 10.13 21.5941 20.9495 50 0\n", "3 15.14 22.2387 20.9495 50 0\n", "4 25.05 23.8502 20.9495 50 0\n" ] }, { "data": { "text/plain": [ "" ] }, "execution_count": 40, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": 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r8vna5IF0TksJuxwRkQZJ6AB/5M3NtElO4hsXaK1vEYk9CRvg2/Yd5U8f7OJL2Zmkd2obdjkiIg2WkAFeUVXNzc9+SFpKEt+9+KywyxERaZSEvKDDQ0s2sTLvIA9/dQIZXdqFXY6ISKMk3Aj8YEkFj721hSvHZvC5MTrrUkRiV8IF+FPvbuNoeRX/eokOnYhIbEuoAD9WXsUT72zjkhG9GNGnc9jliIg0SZ0BbmZpZrbMzFaa2Roz+1mkvbuZLTKzjZHbbs1fbtMsXJNP8dFyvvnpwWGXIiLSZPUZgZcBl7j7OcA44HIzOw+YCyx296HA4sh2q/bnD3fTr2s7zh2kS6WJSOyrM8A9cCSymRL5cmA6MC/SPg+Y0RwFRsu+I2X8fdM+po/rS1KShV2OiEiT1esYuJklm9kKYC+wyN3fA3q7ez5A5LbXaZ4728xyzCynsLAwSmU33IKVu6mqdqaP6xdaDSIi0VSvAHf3KncfB2QCk8zs7Pq+gLs/6u7Z7p6dnp7eyDKbxt15LiePEX06MbxPp1BqEBGJtgbNQnH3A8AbwOXAHjPLAIjc7o12cdHy5oZC1uUf0ponIhJX6jMLJd3MukbutwMuBXKB+cCsyMNmAS83U41N9vAbm8noksaM8Tp8IiLxoz6n0mcA88wsmSDwn3f3BWb2LvC8md0E7ACuacY6G2359mKWbS3mx9NG6WLFIhJX6gxwd/8IGF9LexEwtTmKiqaH/7aZbu1TuG6SLpcmIvElroekuQWHWJy7l6+fP4j2qQm5bpeIxLG4DvD/fWMz7VOTmXW+LpcmIvEnboelO4tLeOWjfG48P4uu7VPDLkckdlVXwwdPwqHdMHom9B515scfLoDVL0LpQZg8B9Iaue5QRSlsWgTb34GxX4K+4+FgXrDvynKY/F1Ibd/IfR+DDQth5zIY/zXoPRr2b4NVf4S9uWBJMHAyjJoB7Rtw5nZVBbz7EBSsDmq74Jag/S+3wxf+BzpHdwVUc/eo7vBMsrOzPScnp0Ve60d/XsVz7+/krdsuoU+XtBZ5TWkB5Uch54ngD2HYFWf+Ay7aDMufCP7YpfEKPoId7wIGOPQ+GwZMDkLuZPs2wNY3wauD7a4DYdjlDX/N0gOwfiGUHQxeNykZMsbBruVBDQA9hsKQSxq+75Ii2PAalB8O9p2cEvRp9wfB97tlBb8zh3dDUgqcdSl0HVC/fe/8B+SvDPZxdB8cz9fkNvDl38OgCxteL2Bmy909++T2uByBFx4u4/mcPK6ekKnwDpt7MGIq3hKdfa16Hoo2BdupHWHENOgx5NTHlh+BZb+F6kpIaeQoTQIp7YPR47ArYM1LwSh11R9rf2yHnvDp78OYL8GxYlhwK3z0XMNfMzkVRnwOxnwxCO7XfxSMai+6I2g7uBNe/bfG7btNWxg9HcZcA+kj4bU7gt+pqT8J2roOCH7X8lcG/Vz3SuQ/sHpI6wzXzIPRM4J3C6/cHPxHN+1B6BL9acxxOQK/f2Euj7y5mcXfv4hBPTs0++vFnZ3LglFXNKxfGLwNjpauA4IwsaTgj2vty8Fb9doMuQS+8FCz/OGItKSEGYEfKq3g9+9u54oxGQrv43Yug/QRwehg5/twaNfpH7v9HVj2SPReu00aXPGfkP0NsCgsImZJn+xn0IXw+V998nb9ZEnJTX89kVYs7gL86Xe3c7iskm9/ppa31fHqUD4Ubz613R0+eCo47NBlAPSfBKtfqHt/k2bDlO9BUhR+PVI7BF/NxQxMQS2JKa4CvLSiiife3sqFw9I5u1+XsMuJHvfgGHJV+Yltee8HhxG2/Z2PP9g5mSXDed+F9a8Gx6Kn3Boc5zudth3r/4GNiIQqrgL8jzk72XeknO9cFKOjb/fgE/Kan0tUHIXX7oTcBbU/p/sQ+MztwZSn2mYFdO4XfMh3yZ3B9K7aPvATkZgUNwFeWVXNI0u3MGFA19Z9xR33EwMagsMfxz/Zr222RnIqXPRDSB92Ynu3rOAT+vocW07toPAWiTNxE+CvfLSbvP3HuOvzo7FofFgWbe6w4g/BlKVaZ00YDPp08GFfm5OmPg66ENKHt0iZIhI74iLAq6ud37yxmWG9O3LJiFovDBSekuJg7uxHz8HO92DA+TD4ohMf0757MJ85ymdpiUh8i4sAX5K7lw17jvCLL58T3vUu17wES/8LKo990uYOB7YHJ5P0HA6X3w+TvqnpbSISFTEf4O7Or9/YRGa3dnx+bN+WedGSYvjrT6FwQ7BdWQr5K4LTcTPOOfGxI6fB2V+EPmOiMw9aRCQi5gP8tTUFfLjjAPfOHEOb5GZaXHHTYlj+JFRXBdu7lkPJvk/Wg2jTFi7+EUy5JVhXQUSkBcR0gJdVVnHvX3IZ3rsT10zMjP4LlJcEI+1lj0KnDGjfM2hPHwaXPQd9x0X/NUVE6immA/zpd7ezvaiEed+Y1PTR9/HlJfNXftKW+yrsWw/nfQem/hRStDCWiLQeMRvg+4+W86vFG/nMsHQ+Myy98TsqWA3/eBjWzg+Wl0xq88kJMZ0y4PqXGrdkpYhIM4vZAP/l4o0cKavkzitHNm4H1VXwzq9gyT2Q0g5GTYex10DWpzVLRERiQkwGeM62Yp56dxvXTRrAsN6d6vekfRuDK27AJ+G9/e0guKc92LCrboiItAIxF+CHSiu4+dkV9OvWjrlXjDjzgw/vCU6gWfXHU9e3Tu0EM/4XzrlW0/tEJCbFVIC7Oz96aTUFh0p5/luT6ZSWUvObcDg/uCYdwI5/wKs/gLJD0HcCfPZeyPzUJ2HdLSu4eoiISIyKiQAvKy2hsqKc19bs4a8rt/Bvl5zFxD4pUHYk8oBDweWVTl6xL3MSTH9I64iISFyKiQBf8dh3OXffn5gJzEwD3ol81ZScChfeFoysIVjXeviVwcVERUTiUJ3pZmb9gaeAPkA18Ki7/9LMugPPAVnANuBL7r6/OYpsP3YG/9gxgGQzRvftQvvUk2aJmAVXju7VyBkpIiIxqM6LGptZBpDh7h+YWSdgOTAD+DpQ7O73mdlcoJu7336mfbXURY1FROLJ6S5qXOfpi+6e7+4fRO4fBtYB/YDpwLzIw+YRhLqIiLSQBp1/bmZZwHjgPaC3u+dDEPJArQtxm9lsM8sxs5zCwsImlisiIsfVO8DNrCPwInCLux+q7/Pc/VF3z3b37PT0JpzyLiIiJ6hXgJtZCkF4/5+7/ynSvCdyfPz4cfK9zVOiiIjUps4At+ACk48D69z9v2t8az4wK3J/FvBy9MsTEZHTqc8k6QuA64FVZrYi0vZD4D7geTO7CdgBXNMsFYqISK3qDHB3/ztwusVCpka3HBERqa9mugaZiIg0NwW4iEiMUoCLiMSo0Fd6qqioIC8vj9LS0rBLabS0tDQyMzNJSdEV6UWk5YQe4Hl5eXTq1ImsrCwsBi+s4O4UFRWRl5fHoEGDwi5HRBJI6IdQSktL6dGjR0yGN4CZ0aNHj5h+ByEisSn0AAdiNryPi/X6RSQ2tYoAFxGRhgv9GHjYioqKmDo1OB+poKCA5ORkji+6NWHCBBYsWECvXr1YvXp1mGWKiJwi4QO8R48erFixAoC77rqLjh078oMf/ACApUuXMmfOHG644YYQKxQRqV2rCvCfvbKGtbvrvVJtvYzq25mffn50o5574YUXsm3btqjWIyISLToGLiISo1rVCLyxI2URkUSkEbiISIxSgIuIxCgF+Blcd911TJ48mfXr15OZmcnjjz8edkkiIh9rVcfAw3bXXXedsP3MM8+EU4iISD1oBC4iEqMU4CIiMUoBLiISoxTgIiIxSgEuIhKjFOAiIjEq4acRnm452cOHDzNgwAAKCgpISkpi9uzZ3HzzzSFXKyLyiToD3Mx+B0wD9rr72ZG27sBzQBawDfiSu+9vvjKbz+mWk83Pzyc/P58JEyZw+PBhJk6cyGWXXcaoUaPCLVhEJKI+I/AngYeAp2q0zQUWu/t9ZjY3sn17k6v5y1woWNXk3Zygzxi44r4GPy0jI4OMjAwAOnXqxMiRI9m1a5cCXERajTqPgbv7UqD4pObpwLzI/XnAjOiW1bps27aNDz/8kHPPPTfsUkREPtbYY+C93T0fwN3zzazX6R5oZrOB2QADBgw4814bMVJubkeOHOHqq6/mwQcfpHPnzmGXIyLysWafheLuj7p7trtnH7/WZKyoqKjg6quv5qtf/SozZ84MuxwRkRM0NsD3mFkGQOR2b/RKah3cnZtuuomRI0dy6623hl2OiMgpGhvg84FZkfuzgJejU07r8fbbb/P000+zZMkSxo0bx7hx43j11VfDLktE5GP1mUb4DHAR0NPM8oCfAvcBz5vZTcAO4JrmLLKl1FxOdsqUKbh7eMWIiNShzgB39+tO862pUa5FREQaQKfSi4jEKAW4iEiMUoCLiMQoBbiISIxSgIuIxCgFOJCXl8f06dMZOnQogwcPZs6cOZSVlVFUVMTFF19Mx44dmTNnTthlioicIOED3N2ZOXMmM2bMYOPGjWzcuJFjx45x2223kZaWxt13380DDzwQdpkiIqdoVRd0uH/Z/eQW50Z1nyO6j+D2Sadf6XbJkiWkpaVx4403ApCcnMwvfvELBg4cyD333MOUKVPYtGlTVGsSEYmGhB+Br1mzhokTJ57Q1rlzZ7KyshTcItKqtaoR+JlGys3F3TGzWttFRFqzhB+Bjx49mpycnBPaDh06xJ49exg+fHhIVYmI1C3hA3zq1KmUlJTw1FPBFeOqqqr4/ve/z5w5c2jXrl3I1YmInF7CB7iZ8dJLL/HCCy8wdOhQevToQVJSEnfeeScAWVlZ3HrrrTz55JNkZmaydu3akCsWEQm0qmPgYenfvz/z588H4J133uG6665j+fLlTJw4kW3btoVbnIjIaSjAT3L++eezffv2sMsQEalTwh9CERGJVQpwEZEYpQAXEYlRCnARkRilABcRiVEKcE6/nOyiRYuYOHEiY8aMYeLEiSxZsiTsUkVEPpbwAX6m5WR79uzJK6+8wqpVq5g3bx7XX3992OWKiHysVc0DL/iP/6BsXXSXk207cgR9fvjD036/ruVkO3bsCARrppSWllJWVkbbtm2jWqOISGMk/Ai8vsvJvvjii4wfP17hLSKtRqsagZ9ppNxc6rOc7Jo1a7j99tt5/fXXW7I0EZEzatII3MwuN7P1ZrbJzOZGq6iWVNdysnl5eVx11VU89dRTDBkyJKQqRURO1egAN7Nk4NfAFcAo4DozGxWtwlrKmZaTLSsr48orr+Tee+/lggsuCLlSEZETWWOvPGNmk4G73P2zke07ANz93tM9Jzs7208e7a5bt46RI0ee8bUq8vOpPlbaqDrrY+fu3dxy10/J3bSJfcXFfPHKafz6nnu496GH+M///Q1nZWV9/NgFT86jV8+ep+xjw648Oj/622arUURiW10TKs7EzJa7e/bJ7U05Bt4P2FljOw84t5YXng3MBhgwYEATXq759O/blxcj4fvu8uXccMvNfLBqFXfMmcMdc+aEXJ2ISO2aEuCnfvIHpwzn3f1R4FEIRuCNeaGUjIzGPK1RLho8iB3XfLHBz2tTVsrAp59qhopERGrXlA8x84D+NbYzgd1NK0dEROqrKQH+PjDUzAaZWSpwLTC/MTuK9SvAx3r9IhKbGh3g7l4JzAFeA9YBz7v7mobuJy0tjaKiopgNQXenqKiItLS0sEsRkQTTpBN53P1V4NWm7CMzM5O8vDwKCwubsptQpaWlkZmZGXYZIpJgQj8TMyUlhUGDBoVdhohIzEn4tVBERGKVAlxEJEYpwEVEYlSjT6Vv1IuZFQLbG/n0nsC+KJYTCxKxz5CY/VafE0Nj+zzQ3dNPbmzRAG8KM8upbS2AeJaIfYbE7Lf6nBii3WcdQhERiVEKcBGRGBVLAf5o2AWEIBH7DInZb/U5MUS1zzFzDFxERE4USyNwERGpQQEuIhKjYiLA4+HiybUxs/5m9jczW2dma8zs5kh7dzNbZGYbI7fdajznjsjPYb2ZfTa86hvPzJLN7EMzWxDZjuv+AphZVzN7wcxyI//ek+O932b2vcjv9Woze8bM0uKtz2b2OzPba2ara7Q1uI9mNtHMVkW+9yszq+2COady91b9BSQDm4HBQCqwEhgVdl1R6lsGMCFyvxOwgeAC0T8H5kba5wL3R+6PivS/LTAo8nNJDrsfjej3rcAfgAWR7bjub6Qv84B/jtxPBbrGc78JLrm4FWgX2X4e+Hq89Rm4EJgArK7R1uA+AsuAyQRXOvsLcEV9Xj8WRuCTgE3uvsXdy4Fngekh1xQV7p7v7h9E7h8mWFe9H0H/5kUeNg+YEbk/HXjW3cvcfSuwieDnEzPMLBO4EnisRnPc9hfAzDoT/KE/DuDu5e5+gDjvN8Fqp+3MrA3QnuCKXXHVZ3dfChSf1NygPppZBtDZ3d/1IM2fqvGcM4qFAK/t4sn9Qqql2ZhZFjAeeA/o7e75EIQ80CvysHj4WTwI3AZU12iL5/5C8O6xEHgicujoMTPrQBz32913AQ8AO4B84KC7v04c97mGhvaxX+T+ye11ioUAr9fFk2OZmXUEXgRucfdDZ3poLW0x87Mws2nAXndfXt+n1NIWM/2toQ3B2+zfuPt44CjBW+vTifl+R477Tic4VNAX6GBmXzvTU2ppi6k+18Pp+tjovsdCgMf1xZPNLIUgvP/P3f8Uad4TeVtF5HZvpD3WfxYXAF8ws20Eh8IuMbPfE7/9PS4PyHP39yLbLxAEejz3+1Jgq7sXunsF8CfgfOK7z8c1tI95kfsnt9cpFgI8ahdPbm0inzQ/Dqxz9/+u8a35wKzI/VnAyzXarzWztmY2CBhK8OFHTHD3O9w9092zCP4dl7j714jT/h7n7gXATjMbHmmaCqwlvvu9AzjPzNpHfs+nEnzGE899Pq5BfYwcZjlsZudFflY31HjOmYX9KW49P+n9HMEMjc3AnWHXE8V+TSF4q/QRsCLy9TmgB7AY2Bi57V7jOXdGfg7rqecn1a3xC7iIT2ahJEJ/xwE5kX/rPwPd4r3fwM+AXGA18DTB7Iu46jPwDMEx/gqCkfRNjekjkB35OW0GHiJylnxdXzqVXkQkRsXCIRQREamFAlxEJEYpwEVEYpQCXEQkRinARURilAJc4pKZ9TCzFZGvAjPbFbl/xMweDrs+kWjQNEKJe2Z2F3DE3R8IuxaRaNIIXBKKmV1UYx3yu8xsnpm9bmbbzGymmf08si7zwsgyB8fXan7TzJab2WvHT5MWCZsCXBLdEILlbacDvwf+5u5jgGPAlZEQ/x/gi+4+EfgdcE9YxYrU1CbsAkRC9hd3rzCzVQQXD1kYaV8FZAHDgbOBRZGLpCQTnDotEjoFuCS6MgB3rzazCv/kQ6Fqgr8PA9a4++SwChQ5HR1CETmz9UC6mU2GYPlfMxsdck0igAJc5Iw8uIzfF4H7zWwlwYqR54dalEiEphGKiMQojcBFRGKUAlxEJEYpwEVEYpQCXEQkRinARURilAJcRCRGKcBFRGLU/wfOitxtX4BIwAAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# load data file into a pandas dataframe\n", "df = pd.read_csv(datafile_1)\n", "print(df.head())\n", "\n", "# plot data usinig \"Time\" as index\n", "df = df.set_index(\"Time\")\n", "df.plot()" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.1.3 Fitting FOPDT Parameters for Q1 -> T2](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.1.3-Fitting-FOPDT-Parameters-for-Q1-->-T2)", "section": "3.9.1.1.3 Fitting FOPDT Parameters for Q1 -> T2" } }, "source": [ "#### 3.9.1.1.3 Fitting FOPDT Parameters for Q1 -> T2\n", "\n", "We will need to fit at an FOPDT model at three times in the assignment. For that purpose we will take time to write a generic function that we can use for this purpose. The function accepts three array arguments: time t, manipulated variable MV, and process variable PV. The function requires MV to be constant." ] }, { "cell_type": "code", "execution_count": 59, "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.1.3 Fitting FOPDT Parameters for Q1 -> T2](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.1.3-Fitting-FOPDT-Parameters-for-Q1-->-T2)", "section": "3.9.1.1.3 Fitting FOPDT Parameters for Q1 -> T2" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "def fopdt_fit(t, MV, PV):\n", " \n", " assert all(MV.diff()[1:] == 0)\n", "\n", " def PV_pred(param):\n", " K, T, tau = param\n", " tau = max(0, tau)\n", " return PV[0] + MV.mean()*np.array([0 if t <= tau else K*(1-np.exp(-(t-tau)/T)) for t in t])\n", " \n", " K, T, tau = least_squares(lambda param: PV_pred(param) - PV, [1, 1, 1]).x\n", " \n", " fig, ax = plt.subplots(2, 1, figsize=(10,6))\n", " ax[0].plot(t, PV, 'r.', ms=10, label=\"Experiment\")\n", " ax[0].plot(t, PV_pred((K, T, tau)), 'b', lw=3, label=\"Least-squares fit\")\n", " ax[0].set_title(f\"FOPDT model fit: K = {K:5.3f} deg C/% power, T = {T:6.1f} secs, tau = {tau:6.1f} sec\")\n", " ax[0].set_xlabel(\"time / seconds\")\n", " ax[0].set_ylabel(\"deg C\")\n", " ax[0].legend()\n", " ax[0].grid(True)\n", "\n", " ax[1].plot(t, PV_pred((K, T, tau)) - PV)\n", " ax[1].grid(True)\n", " ax[1].set_title(\"Error\")\n", " ax[1].set_xlabel(\"time / seconds\")\n", " ax[1].set_ylabel(\"deg C\")\n", "\n", " plt.tight_layout()\n", " \n", " return K, T, tau\n", "\n", "df = pd.read_csv(datafile_1)\n", "K, T, tau = fopdt_fit(df[\"Time\"], df[\"Q1\"], df[\"T2\"])" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.9.1.2 Step 2: Controller implementation and testing](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.2-Step-2:-Controller-implementation-and-testing)", "section": "3.9.1.2 Step 2: Controller implementation and testing" } }, "source": [ "### 3.9.1.2 Step 2: Controller implementation and testing" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.2.1 PI Implementation](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.2.1-PI-Implementation)", "section": "3.9.1.2.1 PI Implementation" } }, "source": [ "#### 3.9.1.2.1 PI Implementation\n", "\n", "We use the PI antiwindup implementation from notebook 3.5." ] }, { "cell_type": "code", "execution_count": 60, "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.2.1 PI Implementation](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.2.1-PI-Implementation)", "section": "3.9.1.2.1 PI Implementation" } }, "outputs": [], "source": [ "def PI_antiwindup(Kp, Ki, MV_bar=0, MV_min=0, MV_max=100):\n", " MV = MV_bar\n", " e_prev = 0\n", " while True:\n", " t_step, SP, PV, MV = yield MV\n", " e = PV - SP\n", " MV += -Kp*(e - e_prev) - t_step*Ki*e \n", " MV = max(MV_min, min(MV_max, MV))\n", " e_prev = e" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.2.2 PI Controller Tuning](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.2.2-PI-Controller-Tuning)", "section": "3.9.1.2.2 PI Controller Tuning" } }, "source": [ "#### 3.9.1.2.2 PI Controller Tuning\n", "\n", "| Type | $K_P$ | $K_I$ |\n", "| :---: | :---: | :---: |\n", "| P (Ziegler-Nichols) | $\\frac{T}{K\\tau}$ | |\n", "| PI (Astrom and Murray) | $\\frac{0.15\\tau + 0.35T}{K\\tau}$ | $\\frac{0.46\\tau + 0.02T}{K\\tau^2}$ |\n", "| PI (Aggressvie IMC) | $\\frac{T}{K(\\tau + \\max(0.1T, 0.8\\tau)}$ | $\\frac{1}{K(\\tau + \\max(0.1T, 0.8\\tau)}$ |\n", "| PI (ITAE Tuning) | $\\frac{0.586}{K}\\left(\\frac{\\tau}{T}\\right)^{-0.916}$ | $\\frac{1.03 - 0 .165\\left(\\frac{\\tau}{T}\\right)}{T}K_P$ |\n", "| PI (Morari and Zafiriou) | $\\frac{T + 0.5\\tau}{1.7 K \\tau}$ | $\\frac{1}{1.7K}$ |\n", "| PI (Ziegler-Nichols) | $\\frac{0.9 T}{K\\tau}$ | $\\frac{0.3T}{K\\tau^2}$ |\n" ] }, { "cell_type": "code", "execution_count": 61, "metadata": { "nbpages": { "level": 4, "link": "[3.9.1.2.2 PI Controller Tuning](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.2.2-PI-Controller-Tuning)", "section": "3.9.1.2.2 PI Controller Tuning" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "12.92131486943079 0.12756435409710898\n" ] } ], "source": [ "# Astrom and Murray Recommendations\n", "\n", "def PI_params(params):\n", " K, T, tau = params\n", " Kp = (0.15*tau + 0.35*T)/(K*tau)\n", " Ki = (0.46*tau + 0.02*T)/(K*tau*tau)\n", " return Kp, Ki\n", "\n", "Kp, Ki = PI_params((K, T, tau))\n", "print(Kp, Ki)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.9.1.3 Step 3: Controller Testing](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.3-Step-3:-Controller-Testing)", "section": "3.9.1.3 Step 3: Controller Testing" } }, "source": [ "### 3.9.1.3 Step 3: Controller Testing" ] }, { "cell_type": "code", "execution_count": 62, "metadata": { "nbpages": { "level": 3, "link": "[3.9.1.3 Step 3: Controller Testing](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.3-Step-3:-Controller-Testing)", "section": "3.9.1.3 Step 3: Controller Testing" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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Z1Daa8a2l9apBsjdqUtvois9b6vPrQaVYEam1UHvWzOx/k1ydYJDkxLhXu/uzZnYosAI4BugFrnB3rWAgkqGaMmal5cq0VatWMXv2rLz7yy0FNiWMZfNnVjzas9TnBylKpdhc8pWuS5V+78v93GW3WanPj0o5OV+8UYmv1rJfb61fZ6H2D+I9zbxevs9wHNoy7DLovIz1QD8D/CMwE7gVeNLd56aWm3rAzI5x932hRSoSIdWWMTNVUq4c12IVlTgLaUpUd85qn19LYZdicymldF3IpLbR3H7JDK6595myPneZZeFyPrdRKCcXijcK8dVartdby9dZrP1r/Z5mXy/fZzgObRlqspa1HujBJHvYAOaRXGoKd19tZpuAM4FHi590ELq1gkGctPTvVJvlMODOjjx/ge7c00/3trc5uMprHD5uFON9J3SX90NKbXag8e5MG9vD27t6wg4lJ/NdjBusfMWa7m07eOGVsWV/7rq37eDNN7s4uLW5rM9t5vPCUijeesTXu3sHWzetD+z82XK93lq+zmLtX+v3NPt6+T7DtbhuW/thNI0ILqUKfbkpM1sBzE49nAtsBN5y99aMY+4DHnb3FcXON6mtxTd88/RAYpVg7Ny1i4PHjQs7jEhxYN22PfTtGyx67HsntFb8F+GIhFHJM9VmuTmwr4qEKEh/+tOfOOigg8p+3sCg89a2PQdsL/a5y/e8Ys8v9rywpOOtZ3wDgwM0JZrqcq1sh7eN4u0dwf3hkdn+YbV5LV/jhIX/RPvEyZjZBnefXJOTZgi7DIq7/zcAM7sM+BbwOZI/8zLl/YlgZouBxenHhx3UxM5duwKIVILig4NqsywDDnv7iv/SH2HQuyeQaX0KUpvFT8IH2dP9p4qea+7sy/g4lvq5y35eqc/P97ywZMdbt/g8mbDV2wiDfT17Anududo/yPd0RCqDyP4M1/I1Pv7444wc01b9ifIIvWctk5ntBSYD64Ap7r45tf0PwLXu/mixc3Qc0u6bu14ONE6prVWPrmL2x2YXP7ABFCptZtq5p5//5xcvAfD1Tx+ft3u+rbWFJqv/fRbDqc0aRTVtlv25LfVzl+/zXuz5pX6f1Et2vPWK7/HHH+eMM84I/DrZ0q83qNeZq/2DfE/bUiPIc32Ga3XddBm04XrWzGwcMNbd/5h6/FlgK7ANuB9YBHwtNcDgMKC00aCWgLEdgcQswehrPnhYtFnZgwISbQCM63gP7RG5cT5tuLRZI6mmzZqA9vIrqHV/Xr3UK76RY9pon1jz3/slq2c71ONauc4f9c9aWphl0IOBB81sNMmBBZuBT7m7m9l1wN1m9irQB3xOI0El7iqZ26zc+cpERKTxhJasuftbwKl59m0CzqlvRDKcVDNHWaUqmdssDvP/iIhIsEIfYCBSb7Wco6xSlS7FJCIiw4+Wm5JhJ+illopRaVNERMqhnjWJtCDKldUutVQtlTZFRKQcStYksupRrlQ5UkREok5lUImsoMuVKkeKiEgcqGdN6i67tLmrz9nS3XvAcUGXK1WOFBGROFCyJnWVq7S5c9cAK7pWF3yeypUiIjJcqQwqdaWJYUVERMqjnjWpuUIjOHOVNletWsXs2bPynk/lShERGc6UrElNlTOCM13aHNdiKnGKiIjkoTKo1FSpZU6VNkVEREqjnjUpW7llzlxU2hQRESmNkjUpSyVlThEREamcyqBSFpU5RURE6qvinjUzawb+Cjga+IW7P5yx7w53v7oG8UmdFVuLU2VOERGR+qqmDHoH0AasBr5lZme5+/9I7Tuj2sCk/spdi1NlThERkeBVUwY9HbjE3ZcCpwDHmtmdqX3qUomhciasVZlTRESkPqrpWWt2dwdw991m9lngPjP7+9qEJkHLLnmWsxanypwiIiL1UU2yttnMTnD3FwHcfZ+ZzQN+BkyvSXQSmGIlT5U4RUREoqGaZG0RMOQ3fUbCdlFVUUngCpU8VeIUERGJjoqTNXd/0cxOMLM/B55z9/9MbR8AflKrACV42SVPlThFRESio5qpO64EbgHWAu83swXu/vOaRSZ1o5KniIhIdFVTBr0SONHd15vZicD/ApSsRUipy0KJiIhIdFWTrPW7+3oAd3/BzMbUKCapgXLnTBMREZFoqiZZG2lmx/HunGpDHrv7v1cbnFROy0KJiIg0hmqStVbgV1nb0o+d5DJUUmfp0qeWhRIREWkM1YwGnVLDOKQG8pU+NYBAREQkvqpZbmoIM2szs8+kBhtICHKVPlXmFBERibdqpu64G1jq7s+aWRvwHLAbOMTMrnP3u2oUo1QgXfpUmVNERCTequlZ+6C7P5v6ej7wmrt/gOSi7tdUG5hUJ136VKImIiISb9Uka70ZX59Jao41d19XVUQiIiIisl81o0ETZnYw0A18BLg1Y9+oqqKSvDTRrYiIyPBSTbL2v4CngB3A6+7+HEBqgMGm6kOTbJroVkREZPipZuqOO81sNfBeoDNjVx/wP6oNTA6kiW5FRESGn2p61nD3p4Gns7a9UlVEUhJNdCsiIjI8VJWsSXg00a2IiMjwULNJcctlZqPM7CEzW2tmz5rZP5vZlNS+R83s9dT2Z81MZVUREREZlsLuWVsO/Nrd3cyuSj0+J7XvGnd/OLzQwpVr1KdGe4qIiAw/NU/WzOwUYL27byx0nLv3MHQh+CeB/17reOJIoz5FREQkLYgy6K3A82a2vMznXQP8MuPxt8zsBTP7mZkdXbvwoq/YqE+N9hQRERk+zN1rf1KzBHCSuz9T4vE3AucBZ7n7HjN7r7u/ZWYGLAKuTC1lleu5i4HF6cetra2TVq5cWf2LqKNBd7r7333c3Q93/ccAAAuOa2Js89DjxzZDwhpntGdPTw+jRmke5ThRm8WP2ix+1GbxM3fu3A3uPrnW5w0kWSsrALOvABcDZ7v7jjzH9ACT3H1rsfN1dHT45s2baxtkgIqVPO9aMKvhR312dnYyZ86csMOQMqjN4kdtFj9qs/gxs0CStYrLoGbWbGbXm9lyM/tU1r47SjzHYuAS4M/SiZqZjTCziRnHXABsKiVRi5OBQWdLdy+vb+7Om6ip3CkiIiLVDDC4A2gDVpO8v+wsd09PsXFGsSeb2WRgKfA6sCpZ8aQX+DjwiJmNBAaBLcCnq4gzcvL1pmVPdKvJbUVEJC7cff+/RmVmJBL1n/WsmmTtdODk1LQbdwI/NbM73f0KoGiG4e7rCxx3ShVxRV6uAQST2kZzdMdYJWciIhIrg4ODvPPOO+zYsaOhE7W05uZmjjjiCFpa6lf5qiZZa/ZUq7j7bjP7LHCfmf19bUIbHtK9aepFExGROHrzzTdJJBJMmTKF5ubm4k+IMXdn69atrFu3jmOPPbZu160mWdtsZie4+4sA7r7PzOYBPwOm1yS6YUDLRomISFwNDg7S09PD1KlTGTEi7Hn266O9vZ1t27YxODhYt5JoNe/sIqAnc0NGwnZRVVGJiIhI5KXLntZA00kVk36t9Sz5VpOs/bW7X5K90d0HgJ9Ucd6GNjDoWjZKREQkICeffDIAfX19rF27lhNOOAGA97///dx0000sWrSId955h+bmZk4//XTuuOMORo6MdoWrmmTt/TWLYpjQMlIiIiLBevbZZwHo6urilFNO2f8Y4NVXX+W73/0u06dPZ2BggEsvvZSlS5dy4403hhNsiYZHgTkiskeBah41ERFpJAODzvY9wVaPqhmQN3Xq1P1fNzU1MWvWLF5++eVahRaYapK1E83snRzbDXB3P7SKc8derg9sZvnztnknaaoOERFpKNv39LHgrtWBXqNWK/vs3r2bH/zgB3zzm9+sQVTBqiZZWwt8olaBNJJSyp3jx2iqDhERkTD09/dz0UUXcc4553D++eeHHU5R1SRrve7+Zs0iaSC5Jr3NpPKniIg0ovGtLdy1YFbg16hGf38/8+bN4/DDD+c73/lOjaIKVjXJmrqFsqRLn9nlzswlpEDLSImISGNqSlik5w7dt28fF198MRMmTGD58uWxmXKk4mTN3WfUMpC4y1f61KS3IiIi0fCzn/2MlStXMn36dGbMSKYxZ5xxBsuWLQs5ssI0GrRG8q33qXKniIhI/U2ZMoUtW7YM2TZ//nzmz58fUkSVU7IWAK33KSIiIrWiZC0AKn2KiIhIrdRnBVIRERERqYh61iqUPemt1vsUERGRIChZq4DW+BQREZF6URm0AoUmvdUIUBEREakl9ayVoZRJbzUCVERERGpJyVqJNOmtiIhIfKxcuZJbbrmFgYEBent7ec973sNvfvMbPv7xj7Nu3TrGjRtHT08PF154Id/4xjf44x//yIIFC+jq6mLkyJFMmzaNO++8kwkTJoT9UpSsFZPZm6ZJb0VERKJv48aNXHHFFaxevZojjzwSgDVr1uxfXur222/nU5/6FDt27GDGjBmcdtppnHrqqdx8882ceeaZAHz1q1/l+uuvZ/ny5aG9jjQlawXk603TpLciIiI5DA7Anm3BXqN1AiSaCh7y9ttvM2LECNrb2/dvmzlz5gHHtbW1MWvWLF555RXOO+88Jk6cuH/faaedxp133lm7uKugZK2AfEtIHd0xVkmaiIhItj3b4J4Lg73G/AdgbEfBQ0466SROP/10jjjiCD760Y/y4Q9/mEsvvZRJkyYNOW79+vU89thj/OVf/uWQ7QMDAyxbtozPfOYztY6+IkrWMhSaO029aSIiIvGQSCR48MEHefnll/nd737Hr3/9a2655RaeeuopAK655hpuuukmmpubufnmm5k9e/b+57o7V155JW1tbVx99dVhvYQhlKylFJs7TQMJREREimidkOz5CvoaJZo2bRrTpk3jS1/6EnPnzuUXv/gF8O49a7lcc801vPXWWzz00EMkEtGY4UzJWormThMREalSoqloibIeNmzYQFdXF2eccQYA27dv54033uCYY44p+LxrrrmG1157jYceeoiWluj83h/2yZrmThMREWks+/bt4+tf/zpvvPEGra2t7Nu3j8suu4zzzz+fb3/72zmf8/jjj3PHHXcwbdo0TjvtNACOOuoofv7zn9cz9JyGdbKmudNEREQaz5FHHklnZ2fOfY8++mjO7WeccQbuHmBUlYtGMTYk+UZ7quQpIiIiUdHwPWvZIzwzabSniIiIRF1DJ2vFRnhmUulTREREoqihy6CFRnhmUulTRESkfOnlm6J6r1cQ0q81/drroeF61gbd2dLdC+Quc+ai0qeIiEj5EokEo0aNYsOGDUycOJHm5uawQwqUu7N161aam5vrOgdbwyVr3f2w4K7VB2xXmVNERKT2jjzySN555x26urqGRQ9bc3MzRxxxRF2v2XDJWi4qc4qIiAQjkUhw2GGHMXHiRNy9oRM2MwtlVYOGS9bGNsNdC2YN2aYyp4iISLDMrK73cQ0nDZesJcxU7hQREZGG0dCjQUVERETiTsmaiIiISIQFXgY1s9uBTwNHAie6+4up7YcCK4BjgF7gCnd/LLWvFfgHYBYwCFzv7itLud6OHTuYPHlyzV+HBKe3t5eRI1W6jhO1WfyozeJHbRZLk4I4aT3uWXsAWAI8lrX9VuBJd59rZrOAB8zsGHffB3wF6HX3Y83sKOAJM1vl7tuLXaytrY3169fX+jVIgDo7O5kzZ07YYUgZ1GbxozaLH7VZ/JjZQBDnDTxZc/d/hZwz/c4Djkods9rMNgFnAo8CFwGXp/a9YWb/CpwP/LDY9TInxQ2DRp6KiIhILYUyGtTM2oGEu2/O2NwFpGeZOwJ4M8++gvJNilsvk9pGs2z+TCVsIiIiUhNhTt2RPWtednbjBfa9u8NsMbA4/XjE2PHs3LWz+ugqtHPXTlY+0sm4FiVrperp6aGzszPsMKQMarP4UZvFj9oslrqDOGkoyZq7b01NnteR0bt2JLAu9fU6YAqQue9Xec51G3Bb+nH7IYf4yi+fHUjchWzf3cfi+54DYPbsWZrrrQy6LyN+1GbxozaLn7i3WV9fH+vWraO/vz/sUGoqvdxUS0vOlZEaJ1lLuR9YBHwtNcDgMN4dhJDed3lqgMFHgStKOWkUJsXNXEA+F93XJiIijW7dunUcdNBBtLe3N8zKBumF3NetW8exxx5bt+vWY+qOZSQHBxwG/IuZdbv7scB1wN1m9irQB3wuNRIU4FvAP5rZaySn7ljk7tuCjrVW0j1s+WTf1zYw6Gzf826Cp2RORETibHBwkP7+ftrb2xkxorEWS2pvb2fbtm0MDg7WbZ3QeowGXUSylyx7+ybgnDzP2U1yRGhsjG9tYVLbaDbs2Fv02A079rJ9Tx+HjB3JwKCz6J41Q543urmJOy6dwSFjRyppExGR2Ekv5t4oPWqZ0q+pngvWN1a6G6KmhLFs/swhPWTZMu9r279tT98BCd7e/gG+8KOn9idt2Qmbet5ERESGDyVrNdSUKP1+ue27+xjfOvTmxCUXTudv/ukl9vYn59RLJ23ZND2IiIhI+fr6+rj55pt58MEHaW5uJpFI8OUvf5mFCxfS3d3NBRdcwNNPPw3Ali1bQo72XUrWQrL4vucY3dzE355//P5tHQeN5N6FH2JLdy9X/+SZ/UlbtswyqoiIiJTm8ssvp7e3l+eee44xY8bQ1dXFueeeS19fH1/84he59tpraW9v5+yz6z+rRCFK1uoo+762vf0DXPvA80OOaUoYE8eN4t6FHzqgpJqrjCoiIhJl2YPoglDK7UGvvfYaDz30EG+99RZjxowBYMqUKSxdupTPf/7zXHXVVZx11ll0dXUFGmsllKzVUfq+tlw9Z5PaRg8pi5ZTUhUREYmq7Xv6Al9Z6K4Fxec3XbNmDVOnTqW9vX3I9tNPP52NGzeyadMmJk6cGGSYFVOyVmf5es7KHTSQnstNgw1ERERKU2h06ujRo+sYSXmUrIWk2p6zdDlUgw1ERCTKxre2cNeCWYFfo5gZM2awdu1atm7dOqR37YknnuD4449n3LhxQYZYFSVrMZJrLrcNO/by+uZuxo9pGXKckjcREYmCqNzWM3XqVM477zwWLlzI3XffTWtrK11dXVx33XUsXbo07PAKUrIWI5lzuWUONsgedKDeNhERkQOtWLGCm2++mRNPPJFEIsEbb7zBww8/vH8N1pkzZ/L222+zfft2Jk+ezOzZs7n77rtDjlrJWuyk/0IptGJCZm9bupct32gc9cKJiMhwMXLkSJYsWcKSJUsYHBzk+uuv54YbbuDUU09lwoQJrFmzJuwQc1KyFlO5VkzI1ds2qW00t18yg2vufSZnYqdeOBERGY4SiQRLliwJO4ySKFmLsez7APLd0/bMuu151yzN1QsnIiIi0aFkrYHku6ftG4/8x/5jbpt3EuPHtOTthVMvm4iISLQkwg5Aaivd23Z0x1gmtQ2dM2ZS22iO7hibd3+6l21g0A8478Cgs6W7d/+/XMeIiIhI7alnrUHluqcts8xZaGRpuocNkjNPDwx6zhUXMnvhsgcwqKQqIiJSG0rWGlixuW3yjSzdsGMvW7p7+Zt/eqngvW7pxeQHBp1F96wZcqxKqiIiIrWhMqjs72W7bd5J+7d1bdl9QKI2urmJJRdO3/94++4+tnT38vrm7gOOTSdzaZWWUbOfV+syrMq7IiLDR19fH9dddx3HHnssxx13HMcffzzLly8H4IUXXuAjH/kI06ZN48QTT2ThwoX09vaGHHGSetYESCZsmasg5BqUML61ZUgClj0ZL8BNnzxu/3PT65eWUkbNlC6p5npeKc8vRTpJKycuERGJt8svv5ze3l6ee+45xowZQ1dXF+eeey59fX3MmTOH7373u0yfPp2BgQEuvfRSli5dyo033hh22ErW5F25pv5ID0pIJy+FJuOd1DaaKYeM2f84VzKXlllGhdIStELPz1ZoEmDggLJtqectJt91s2NQMigiw8bgAOzZFuw1WidAoqngIa+99hoPPfQQb731FmPGJH9XTZkyhaVLl/L5z3+eq666av+xTU1NzJo1i5dffjnQsEulZE32KzYoId8xmccCeZO50c1N/O35x3PtA88D7/a87eh1Lln+ZN4EbXRzE3dcOoOmhA0ZDAG5k6NiPXJ/e/7xQ+LLjitbKQlYsetmx6DeOxEZNvZsg3suDPYa8x+AsR0FD1mzZg1Tp04dsog7wOmnn87GjRvZtGkTEydOBGD37t384Ac/4Jvf/GZgIZdDyZoMUcqCu8WOKZTM5Sqj7tw1wMHjhiY4mQlavp6ozX/q5cofrymaHGXKvpfutnkncXTH2ANWgkgrNQErR7W9dyIiUhmz/H8kjx6dnM6qv7+fiy66iHPOOYfzzz+/XqEVpGRNaq5QMleojFpKgpYpX09YrvNl9sjt3NP/bjxjDrxOofJtKTKvmykzhsyEsBCVTEUk9lonJHu+gr5GETNmzGDt2rVs3bp1SO/aE088wfHHH8+4cePo7+9n3rx5HH744XznO98JMuKyKFmTuspVRl21ahWzZ88qKTHJlezlS47ynS9z8ESh82bKd418MRY7rtSEUCVTEYm9RFPREmU9TJ06lfPOO4+FCxdy991309raSldXF9dddx1Lly5l3759XHzxxUyYMIHly5cX7IWrNyVrUnfZPW/jWoqXXjOfW+y+ulzyDZ5I32dX6F68Uq9RTLGEMBeVTEVEamfFihXcfPPNnHjiiSQSCd544w0efvhh5syZwz333MPKlSuZPn06M2bMAOCMM85g2bJlIUddQrJmZhcDRwO/cvdnM7bf4O7/M8DYRHIq5b66XM8pZfBEkElRsYQwU/ZAChERqd7IkSNZsmQJS5YsYXBwkOuvv54bbriBU089lfnz5zN//vywQ8ypYLJmZt8APgo8C/zazG5193QR978CStYkNoJOxoKKQfe3iYjUXiKRYMmSJWGHUZJiPWufBk5x9z4zuwX4hZmNcfe/A/RbQaQOdH+biMjwVixZS7h7H4C7bzSzs0n2sDUBWpdHJCC6v01ERNKKJWvdZjbF3bsA3H2Xmc0BOoHjgw5OZLjS/W0iEmdRGkkZlHq+xmLJ2g3AwZkb3L3bzM4BvhxYVCIS6P1tabrPTUSCYGaYGf39/TQ1FV4GKm76+/v3v756KZisufuqPNt3A38XSEQiUrFye9h0n5uIBMHMaGtrY9OmTUyaNKlhetrcnU2bNtHW1hadZA3AzD4J3ARMB/YCvwdudPcXzawlfU+biISjkvvb0nSfm4gE5dBDD+XNN9/k1VdfDTuUmho1ahSHHnpoXa9ZbOqOzwDLgG8AT5AcAXo68KCZXQD8v8DcgGMUkQLKub8tTfe5iUjQEokERx11FIODg7g3xphEMyORSNT9usV61v4a+IS7Z/5Uf8bMfg/8X+DBwCITkZJVM4dc+j433b8mIkEII7lpNMWStbFZiRoA7v6smW0EvhBMWCJSL+ketnLWPx1skL+SRUTioFiy1mJmCXcfzNyYmmcN3a8mEk+57nPb2z/AF370VEnP39s9wMwP9+RN7NRLJyJSO8WStd8A3zazv3L3fQBmNgJYCvw26OBEJBiZ97kNDDpX/+QZ9vYPlPz8vkEKJnYaZSoiUjvFkrVrgV8Br5vZ0yRXLTgFeAs4t9qLm1kX0JP6B/A/3f1nZnYosAI4BugFrnD3x6q9noi8K/M+t3sXfqikAQrpxG5nkeM0ylREpHaKzbO2CzjTzM4CZqY2L3P3WvaqXejuL2ZtuxV40t3nmtks4AEzOybduycitVXOAIV7F36IlY90Mnv2rAP2aZSpiEjtFZ1nDSCVnNWz7DkPOCp17dVmtgk4E3i0jjGISA5NCWNcS+WjTys1MOhDev+icl9cVOOKquz3K1P6vSt0TCWy26TW56/U+NYWgLyxFBrIE5XXUEvltH+tvs9q9T4G/X1fUrIWsHvMLEFyKpAbgEGSC8hvzjimCzgihNhEpEKFlr4q9wfbwKCz6J41QwZElDp6Ncgforniyr5fr5pfBo2W+OV6vzJNahvN7ZfM4Jp7n6lokud8MtukWAz1dNjBowDYuLMn5/4RfYOcc04yYcv8DFVyn2kclNP+tfg+q+X7eNeCWYH+AWthTlRnZke4+zozayY58e6JwOeAde4+JuO4+4FfuvuKHOdYDCxOP25tbZ20cuXK4IOXmunp6WHUqFFhhyFlyNdmu/qcO54v/oOvJQFfPL6JhMHYZkgUWbal1PMWu1YxpcRSSlxXT29iXIsx6M7ylwbZ2lPZz9lyYi+mt7eXkSOTv0zKfZ21Uko7Xj6tiR++XPskJN0m1XyW6s0HnatOGsFPX638MxQ35bR/rb7PaiEdy9y5cze4++Ranz/UnjV3X5f6v9/M/j9grbtvTS2Q2pHRu3YksC7POW4Dbks/7ujo8Dlz5gQcudRSZ2cnarN4yddmA4POb3eU1mvx4zeT/+fqIcvuUdrS3cuKrtUALLlwOn/zTy+V9ddw+lrFlNJblxlbZlw3ffI4vvHIfwAwe3byr+wt3b1879XVHNxScqgVx17Mzl0DHDxuLFDenHrFlNP7l/l+3TbvJMaPSZUBM+51/PAZ0/n5H58/4JhKZJ43s01yxVBPue7tzPV+7Ny1k5NO/TA/fvP5nJ+hWrZjmMpp/3xtWs33WS3ex0iWQc3sFGC9u2+s9MJmNgZodvcdqU2XAM+kvr4fWAR8LTXA4DBAo0FFIq7Y0le5yg655nfL/uGZWVLtOGhkSaNXKylxlDLXXGZsmXEd3Nq8/+v09sz95SQGQZe5yplTr5hyftFlvh/jx7TkLBvt3NNf9JhK5GqTWp6/WqW8H9mfoUYrk0N57V/t99n+68Tgfay0Z+1WYLqZPeTuCys8x0SSa4w2kVxz9HXgv6X2XQfcbWavAn3A5zQSVCQeio0sTSdahRKSYslEqaNXy52SpJTkqJREJ9eI2HITg1JjL9WqVav4yEdPqXkSWMvED9jfO1lrcR2lnPl+RCm5DEo57V+L77O4qChZc/ezU4MCTqr0wu7+OjAjz75NwDmVnltEoqvQ/G7FkqZJbaP3j6Ar91rFFEuOCsU2qW00Rx8y9oBVISqNG6pb7zWXcS3GxHGjapYEVtP7l/1+5FpRo5L3LFuu89by/JXKjivf+7Fz17szGoYZb9DKaf+otmnQQh1gEISOjg7fvHlz8QMlMnTPWvwE2WalTO0QlnyxFZtyIOy4IZg2q3Ska673I6gpUKLaJplx5Xs/kvMZzs57TCMpp/2j2qYAZhatAQZm9iN3v6yWwYiI1LpHqZaKxRbl2INQy9cb1HsX1TYp5bMUxnyGYSmnnaLapkFKVPHc2TWLQkRERERyKtizZmbv5NsFtNU8GhEREREZolgZ1ICz4IB1mw14PJCIRERERGS/Ysna00C7uz+fvcPMKp5jTURERERKUyxZuwDoz7XD3T9Y+3BEREREJFPBAQbuvtvd+wDMrMPMxtYnLBERERGBEkaDmtmVZvZHYBOw08yeN7OzU/vaAo5PREREZFgrmKyZ2ReBq4DPAxOAduB6YKmZnQP8NvAIRURERIaxYvesXQPMdfd1Gdt+ZWb/DqwFbgssMhEREREpWgZNZCVqALh7F9Dl7tcHEpWIiIiIAMWTtRYzG5W90cxGl/BcEREREalSsYRrJXB35kACMxsPrAAeDDAuEREREaF4snYTyXnW1pvZM2a2BngL2JfaJyIiIiIBKjjAwN37gUvN7BhgZmrzM+7+WuCRiYiIiEjR0aAAuPt/Av8ZcCwiIiIikkWDBEREREQiTMmaiIiISIQpWRMRERGJMCVrIiIiIhFW0gADESnT4ADs2RZ2FIFp6d8J3ZvDDkPKoDaLH7VZjLROgERTYKdXsiZSa4MDcP9lsOOtsCMJzMxdu2DDsrDDkDKozeJHbRYj8x+AsR2BnV5lUJFa27OtoRM1ERGpL/WsiQTps9+H1vawo6i5NY+uYvbHZocdhpRBbRY/arMYaZ0Q6OmVrIkEqbU90K7xsPQ1H9yQr6uRqc3iR20maSqDioiIiESYkjURERGRCFOyJiIiIhJhStZEREREIkzJmoiIiEiEKVkTERERiTAlayIiIiIRpmRNREREJMKUrImIiIhEmJI1ERERkQhTsiYiIiISYZFN1sxsqpn93szWmtkfzOwDYcckIiIiUm+RTdaA7wPL3f19wBLgH0KOR0RERKTuRoQdQC5mdigwEzgntelB4LtmNsXduwo+2Qehe3OwAUpNtfTvbKw227M17AhERKSBRDJZA94L/NHd9wG4u5vZOuAIoKvQE1v2/QnuuTD4CKVmZu7aBRuWhR2GiIhIJEU1WQPwrMeW6yAzWwwsTj8+7KAmdu7aFWRcUmM+ONiQbdYz8hCefewpsCjfbVCZnp4eOjs7ww5DyqA2ix+1maSZe3ZOFL5UGfRVoN3d95mZAW8DHypWBu04pN03d71chyilVlY9uorZH5sddhi11zoBEk1hRxGIzs5O5syZE3YYUga1WfyozeLHzDa4++RanzeSPWvu/o6ZPQP8BfBD4AKgq+j9apDsxRjbEWh8Ult9zQerzURERPKIZLKW8iXgh2Z2I7ALuCzkeERERETqLrLJmru/ApwedhwiIiIiYYrkPWvVMLN9wMaw45CyjAW6ww5CyqI2ix+1WfyozeLnMHeveUdYZHvWqrAxiJv7JDhmtl5tFi9qs/hRm8WP2ix+zGx9EOdtvDkFRERERBqIkjURERGRCGvEZO22sAOQsqnN4kdtFj9qs/hRm8VPIG3WcAMMRERERBpJI/asiYiIiDQMJWsiIiIiEdYwyZqZTTWz35vZWjP7g5l9IOyYhjszG2VmD6Xa5Fkz+2czm5Lad2jq8atm9qKZnZnxvFYzu9fMXks9989DexHDmJn9jZm5mZ2Qeqw2iygzG2lm3021zUtm9uPUdrVZRJnZHDN72syeSbXNZantarOIMLPbzawr8+dgantFbWRmCTO7w8z+M7X/ylJjaZhkDfg+sNzd3wcsAf4h5HgkaTnwfnc/GXg49RjgVuBJd58KLADuMbP0vH9fAXrd/VhgDvA9Mxtf37CHNzObCXwIWJexWW0WXbcCg8D73P144KsZ29VmEWNmBvwEWODuM4BPAd83s4NQm0XJA8CZwJtZ2ytto78APgC8DzgVuNbMppUUibvH/h9wKLADGJF6bCRXMZgSdmz6N6SdTgFeS33dDXRk7PsD8LHU1y8BszL23QdcHnb8w+UfMBJ4AjgK6AJOUJtF9x8wJvXzb2yOfWqzCP5L/Y7aCnwk9Xg6sAFoUZtF71/mz8HU44raCHgE+K8Z+5YAXyslhkbpWXsv8Ed33wfgyXdhHXBEqFFJtmuAX5pZO5Bw980Z+7p4t72OYOhfMpn7JHhfB37s7m+kN6jNIu0Ykr/4bzKzp8zs38zsLLVZdKV+R80DVprZm8BjwGXAQajNIq3K76uK269RkjWA7DlILJQoJCczuxGYCvx1alOx9vIC+yQgZnY6MAv4Xo7darNoagaOBv7d3U8BrgJ+SnI5QbVZBKVKZjcA57v7kcBZwI9Su9Vm0VdNG1XUfo2SrL0FTE7XjFP3A7yXoffbSEjM7CvAnwPnuvsed9+a2t6RcdiRvNte64ApefZJsD4KTAPeMLMuYDLQSfL+CrVZNL1J8n61ewDc/TngDeA4UJtF1MnAe9z9cQB3Xw38kWQ5VG0WYVX+/qq4/RoiWXP3d4BnSN68B3AB0OXuXaEFJQCY2WLgEuDP3H1Hxq77gUWpY2YBh5EsBWTvO4pkAvGLOoU8rLn7re7+Hnef4u5TgPXAHHf/NWqzSHL3LcBvSd7MjJkdSfJ+w1dQm0VVuoPh/QBmdizJcvZa1GZxUGkb3Q98ycyazGwCcBHws1Iu2DArGKQ+9D8E2oFdwGXu/lKoQQ1zZjaZ5A+l14E/pTb3uvtpZjYRuJvkL5U+4Ep3/13qeWOAfwQ+SLLH4EZ3f6De8Quketc+5e4vqs2iy8yOJvn+twMDwN+6+8/VZtFlZpcAN5J87w34O3f/qdosOsxsGXA+yWRsC9Dt7sdW2kZm1gTcDsxNXeLb7v7dkmJplGRNREREpBE1RBlUREREpFEpWRMRERGJMCVrIiIiIhGmZE1EREQkwpSsiYiIiETYiOKHiIhUx8yeTX3ZQnIR4xdTj19J/XvJ3Uuab6iKGB4Bvu7u/zdr+xXAlSRnFh8JPO3u84OMpRgzmwI85e6HhBmHiESDkjURCZy7nwxDkpCT63l9MxtLckb/P2RtPwX4CnCqu29LrX4yo56xiYgUozKoiITKzH5oZlelvv6amd1rZg+b2Wtmdp+ZzTCz/2Nmr5vZbRnPOyy1/w9m9ryZfb3AZc4F/tkPnFjyvcBOkhNp40lrMq4xK3Xtp8xsjZldkLHvk2a22syeM7Nnzey01Pa5qWOfN7PfmdkHUts/ljrue6nnvJRKFtPnW5R6zf8GfCFje4eZ/W8zeyF1zrvKf5dFJM7UsyYiUXNK6l83sAa4lWSyNYLkmqV3uvtakgtf3+Lu/5paF/hhM/usu/88xzk/S3KFk2ydwF8Bb5nZ70guGXOPu283szbg+8An3f1tMzsEeNrMHgfGAf8AfMTd15pZM9BqZocCPwZmu/sLZjYfuA84IXW944EvuPuVqfLrLcAcM5sO/DUww903mdn3MmL8C5LL550DkFqmRkSGEfWsiUjUdLr7TncfAJ4HfuPuve6+m+T9bUenlnT5OHB76n64p4BjSS5CP0QqkfowsCp7n7vvAf4L8Ang98CfA8+nEqIPA0cDv05d419ILgv0fuDPgF+lkkbcvd/ddwKnAc+6+wup7feQXAPy8NQlX3H3p1JfP0FyPUiAjwGPuPum1OPlGWE+Ccw1s6Vm9mlgdwnvoYg0EPWsiUjU9GR8PZDj8QiSf2g6MMvd+4uc7+PA4/mOS5VGnwGeMbM7gH8nmTz1As+7+0eyn2NmJ2RvS+9KxXXAZVL/53ot6efl5O5PmNnJwNnABcA3zGxGKpkVkWFAPWsiEjvu/ifg34Dr09vM7D1mNjnH4Z8BcpVGMbNpqRJk2nuBDuB1kj1tU83s4xnHn2xmLSTLp+ea2ftS25vN7GCSvWUnm9lxqe0XA+vdfWORl7QK+ESqjArw+YxrHkVyAen7gKtJjqYdW+R8ItJA1LMmInE1H7jNzF5IPe4GrgDWpw9Ije6cA3w1zzlagW+b2WHAXpI9XNe7+7Op558HfMvMvg00A+uAz7j7a2b2eeDeVJl1APiSu//BzD4H3GNmTcAOYF6xF+Luz5vZ3wG/N7ONwCMZuz8GLDazAaAJ+Gqq5Coiw4QdODhKRKQxmNmHgJvc/VNhxyIiUiklayIiIiIRpnvWRERERCJMyZqIiIhIhClZExEREYkwJWsiIiIiEaZkTURERCTClKyJiIiIRJiSNREREZEIU7ImIiIiEmH/P99THu0U1/pUAAAAAElFTkSuQmCC\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "controller = PI_antiwindup(Kp, Ki, MV_min=0, MV_max=100)\n", "next(controller)\n", "\n", "# setpoint SP2\n", "SP2 = lambda t: 30\n", "\n", "# unmeasured disturbance\n", "DV = lambda t: 20 if t >= 300 else 0\n", "\n", "TCLab = setup(connected=connected, speedup=speedup if not connected else 1)\n", "with TCLab() as lab:\n", " # set up historian and plotter\n", " lab.sources.append(('SP2', lambda: SP2(t)))\n", " h = Historian(lab.sources)\n", " p = Plotter(h, t_final, layout=(('T1',), ('T2', 'SP2'), ('Q1', 'Q2')))\n", " \n", " # set power levels\n", " lab.P1 = P1\n", " lab.P2 = P2\n", " \n", " for t in clock(t_final, t_step):\n", " lab.Q1(controller.send((t_step, SP2(t), lab.T2, lab.Q1())))\n", " lab.Q2(DV(t))\n", " p.update(t)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.9.1.3 Step 3: Controller Testing](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.3-Step-3:-Controller-Testing)", "section": "3.9.1.3 Step 3: Controller Testing" } }, "source": [ "Examining the response of T2, it appears the controller is slow in approaching the steady state. This can be improved by increasing the integral action by increasing the value of $K_I$." ] }, { "cell_type": "code", "execution_count": 63, "metadata": { "nbpages": { "level": 3, "link": "[3.9.1.3 Step 3: Controller Testing](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.1.3-Step-3:-Controller-Testing)", "section": "3.9.1.3 Step 3: Controller Testing" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "controller = PI_antiwindup(Kp, 1.4*Ki, MV_min=0, MV_max=100)\n", "next(controller)\n", "\n", "# setpoint SP2\n", "SP2 = lambda t: 30\n", "\n", "# unmeasured disturbance\n", "DV = lambda t: 20 if t >= 300 else 0\n", "\n", "TCLab = setup(connected=connected, speedup=speedup if not connected else 1)\n", "with TCLab() as lab:\n", " # set up historian and plotter\n", " lab.sources.append(('SP2', lambda: SP2(t)))\n", " h = Historian(lab.sources)\n", " p = Plotter(h, t_final, layout=(('T1',), ('T2', 'SP2'), ('Q1', 'Q2')))\n", " \n", " # set power levels\n", " lab.P1 = P1\n", " lab.P2 = P2\n", " \n", " for t in clock(t_final, t_step):\n", " lab.Q1(controller.send((t_step, SP2(t), lab.T2, lab.Q1())))\n", " lab.Q2(DV(t))\n", " p.update(t)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.9.2 Exercise 2](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2-Exercise-2)", "section": "3.9.2 Exercise 2" } }, "source": [ "## 3.9.2 Exercise 2\n", "\n", "The second exercise of the assignment can be broken into four steps:\n", "\n", "* Step 1: Implement PI control for the inner control.\n", "* Step 2: Step test the inner control loop for the response T2 to a step change in setpoint SP1.\n", "* Step 3: Implement the outer controller.\n", "* Step 4: Test the cascade control configuration." ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.1 Step 1: Determining the Inner Controller](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.1-Step-1:-Determining-the-Inner-Controller)", "section": "3.9.2.1 Step 1: Determining the Inner Controller" } }, "source": [ "### 3.9.2.1 Step 1: Determining the Inner Controller" ] }, { "cell_type": "code", "execution_count": 76, "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.1 Step 1: Determining the Inner Controller](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.1-Step-1:-Determining-the-Inner-Controller)", "section": "3.9.2.1 Step 1: Determining the Inner Controller" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "4.161373089567625 0.050281234666723434\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "df = pd.read_csv(datafile_1)\n", "Kp_inner, Ki_inner = PI_params(fopdt_fit(df[\"Time\"], df[\"Q1\"], df[\"T1\"]))\n", "print(Kp_inner, Ki_inner)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.2 Step 2: Step Testing the Inner Controller](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.2-Step-2:-Step-Testing-the-Inner-Controller)", "section": "3.9.2.2 Step 2: Step Testing the Inner Controller" } }, "source": [ "### 3.9.2.2 Step 2: Step Testing the Inner Controller" ] }, { "cell_type": "code", "execution_count": 73, "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.2 Step 2: Step Testing the Inner Controller](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.2-Step-2:-Step-Testing-the-Inner-Controller)", "section": "3.9.2.2 Step 2: Step Testing the Inner Controller" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "inner = PI_antiwindup(Kp_inner, 1.4*Ki_inner, MV_min=0, MV_max=100)\n", "next(inner)\n", "\n", "# setpoint SP1\n", "SP1 = lambda t: 60\n", "\n", "TCLab = setup(connected=connected, speedup=speedup if not connected else 1)\n", "with TCLab() as lab:\n", " # set up historian and plotter\n", " lab.sources.append(('SP1', lambda: SP1(t)))\n", " h = Historian(lab.sources)\n", " p = Plotter(h, t_final, layout=(('T1','SP1'), ('T2',), ('Q1', 'Q2')))\n", " \n", " # set power levels\n", " lab.P1 = P1\n", " \n", " for t in clock(t_final, t_step):\n", " lab.Q1(inner.send((t_step, SP1(t), lab.T1, lab.Q1())))\n", " p.update(t)\n", " \n", " h.to_csv(datafile_2)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.3 Step 3: Implement the Outer Controller](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.3-Step-3:-Implement-the-Outer-Controller)", "section": "3.9.2.3 Step 3: Implement the Outer Controller" } }, "source": [ "### 3.9.2.3 Step 3: Implement the Outer Controller" ] }, { "cell_type": "code", "execution_count": 75, "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.3 Step 3: Implement the Outer Controller](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.3-Step-3:-Implement-the-Outer-Controller)", "section": "3.9.2.3 Step 3: Implement the Outer Controller" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "7.43233104193439 0.1404944729051455\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "df = pd.read_csv(datafile_2)\n", "Kp_outer, Ki_outer = PI_params(fopdt_fit(df[\"Time\"], df[\"SP1\"], df[\"T2\"]))\n", "print(Kp_outer, Ki_outer)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.4 Step 4: Test the Cascade Control Configuration](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.4-Step-4:-Test-the-Cascade-Control-Configuration)", "section": "3.9.2.4 Step 4: Test the Cascade Control Configuration" } }, "source": [ "### 3.9.2.4 Step 4: Test the Cascade Control Configuration" ] }, { "cell_type": "code", "execution_count": 82, "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.4 Step 4: Test the Cascade Control Configuration](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.4-Step-4:-Test-the-Cascade-Control-Configuration)", "section": "3.9.2.4 Step 4: Test the Cascade Control Configuration" } }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "inner = PI_antiwindup(Kp_inner, 1.4*Ki_inner, MV_min=0, MV_max=100)\n", "next(inner)\n", "\n", "outer = PI_antiwindup(Kp_outer, Ki_outer, MV_min=21, MV_max=80)\n", "SP1 = next(outer)\n", "\n", "# setpoint SP2\n", "SP2 = lambda t: 30\n", "\n", "# unmeasured disturbance\n", "DV = lambda t: 20 if t >= 300 else 0\n", "\n", "TCLab = setup(connected=connected, speedup=speedup if not connected else 1)\n", "with TCLab() as lab:\n", " # set up historian and plotter\n", " lab.sources.append(('SP1', lambda: SP1))\n", " lab.sources.append(('SP2', lambda: SP2(t)))\n", " h = Historian(lab.sources)\n", " p = Plotter(h, t_final, layout=(('T1','SP1'), ('T2','SP2'), ('Q1', 'Q2')))\n", " \n", " # set power levels\n", " lab.P1 = P1\n", " lab.P2 = P2\n", " \n", " for t in clock(t_final, t_step):\n", " SP1 = outer.send((t_step, SP2(t), lab.T2, SP1))\n", " lab.Q1(inner.send((t_step, SP1, lab.T1, lab.Q1())))\n", " lab.Q2(DV(t))\n", " p.update(t)" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "nbpages": { "level": 3, "link": "[3.9.2.4 Step 4: Test the Cascade Control Configuration](https://jckantor.github.io/cbe30338-2021/03.09-Lab-Assignment-Solution.html#3.9.2.4-Step-4:-Test-the-Cascade-Control-Configuration)", "section": "3.9.2.4 Step 4: Test the Cascade Control Configuration" } }, "outputs": [], "source": [] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "< [3.8 Lab Assignment 4: Cascade Control](https://jckantor.github.io/cbe30338-2021/03.08-Lab-Assignment-Cascade-Control.html) | [Contents](toc.html) | [Tag Index](tag_index.html) | [4.0 Process Analytics](https://jckantor.github.io/cbe30338-2021/04.00-Process-Analytics.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": "3.8.5" } }, "nbformat": 4, "nbformat_minor": 4 }