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#366 idling and charge level PD gain changes

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This commit is contained in:
Mikayla Fischler
2024-04-09 22:23:43 -04:00
parent 4fcd375ee2
commit 65d43d55c7
3 changed files with 85 additions and 16 deletions
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38
supervisor/facility.lua
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@@ -50,9 +50,9 @@ local START_STATUS = {
BLADE_MISMATCH = 2
}
local charge_Kp = 0.275
local charge_Kp = 0.15
local charge_Ki = 0.0
local charge_Kd = 4.5
local charge_Kd = 0.6
local rate_Kp = 2.45
local rate_Ki = 0.4825
@@ -225,6 +225,14 @@ function facility.new(num_reactors, cooling_conf)
return unallocated, false
end
-- set idle state of all assigned reactors
---@param idle boolean idle state
local function _set_idling(idle)
for i = 1, #self.prio_defs do
for _, u in pairs(self.prio_defs[i]) do u.auto_set_idle(idle) end
end
end
-- PUBLIC FUNCTIONS --
---@class facility
@@ -325,8 +333,9 @@ function facility.new(num_reactors, cooling_conf)
--#region
local avg_charge = self.avg_charge.compute()
local avg_inflow = self.avg_inflow.compute()
local avg_charge = self.avg_charge.compute()
local avg_inflow = self.avg_inflow.compute()
local avg_outflow = self.avg_outflow.compute()
local now = util.time_s()
@@ -390,6 +399,7 @@ function facility.new(num_reactors, cooling_conf)
-- disable reactors and disengage auto control
for _, u in pairs(self.prio_defs[i]) do
u.disable()
u.auto_set_idle(false)
u.auto_disengage()
end
end
@@ -460,6 +470,9 @@ function facility.new(num_reactors, cooling_conf)
self.last_error = 0
self.accumulator = 0
-- enabling idling on all assigned units
_set_idling(true)
self.status_text = { "CHARGE MODE", "running control loop" }
log.info("FAC: CHARGE mode starting PID control")
elseif self.last_update ~= charge_update then
@@ -475,9 +488,9 @@ function facility.new(num_reactors, cooling_conf)
local integral = self.accumulator
local derivative = (error - self.last_error) / (now - self.last_time)
local P = (charge_Kp * error)
local I = (charge_Ki * integral)
local D = (charge_Kd * derivative)
local P = charge_Kp * error
local I = charge_Ki * integral
local D = charge_Kd * derivative
local output = P + I + D
@@ -486,7 +499,10 @@ function facility.new(num_reactors, cooling_conf)
self.saturated = output ~= out_c
-- log.debug(util.sprintf("CHARGE[%f] { CHRG[%f] ERR[%f] INT[%f] => OUT[%f] OUT_C[%f] <= P[%f] I[%f] D[%d] }",
-- stop idling early if the output is zero, we are at or above the setpoint, and are not losing charge
_set_idling(not ((out_c == 0) and (error <= 0) and (avg_outflow < avg_inflow)))
-- log.debug(util.sprintf("CHARGE[%f] { CHRG[%f] ERR[%f] INT[%f] => OUT[%f] OUT_C[%f] <= P[%f] I[%f] D[%f] }",
-- runtime, avg_charge, error, integral, output, out_c, P, I, D))
_allocate_burn_rate(out_c, true)
@@ -544,9 +560,9 @@ function facility.new(num_reactors, cooling_conf)
local integral = self.accumulator
local derivative = (error - self.last_error) / (now - self.last_time)
local P = (rate_Kp * error)
local I = (rate_Ki * integral)
local D = (rate_Kd * derivative)
local P = rate_Kp * error
local I = rate_Ki * integral
local D = rate_Kd * derivative
-- velocity (rate) (derivative of charge level => rate) feed forward
local FF = self.gen_rate_setpoint / self.charge_conversion