#143 #103 #101 #102 work in progress auto control, added coordinator controls, save/auto load configuration, auto enable/disable on reactor PLC for auto control (untested)
This commit is contained in:
Mikayla Fischler
@@ -1,12 +1,12 @@
|
||||
local log = require("scada-common.log")
|
||||
local rsio = require("scada-common.rsio")
|
||||
local types = require("scada-common.types")
|
||||
local util = require("scada-common.util")
|
||||
|
||||
local rsctl = require("supervisor.session.rsctl")
|
||||
local unit = require("supervisor.session.unit")
|
||||
|
||||
local HEATING_WATER = 20000
|
||||
local HEATING_SODIUM = 200000
|
||||
local PROCESS = types.PROCESS
|
||||
|
||||
-- 7.14 kJ per blade for 1 mB of fissile fuel<br/>
|
||||
-- 2856 FE per blade per 1 mB, 285.6 FE per blade per 0.1 mB (minimum)
|
||||
@@ -15,15 +15,6 @@ local POWER_PER_BLADE = util.joules_to_fe(7140)
|
||||
local MAX_CHARGE = 0.99
|
||||
local RE_ENABLE_CHARGE = 0.95
|
||||
|
||||
---@alias PROCESS integer
|
||||
local PROCESS = {
|
||||
INACTIVE = 1,
|
||||
SIMPLE = 2,
|
||||
CHARGE = 3,
|
||||
GEN_RATE = 4,
|
||||
BURN_RATE = 5
|
||||
}
|
||||
|
||||
local AUTO_SCRAM = {
|
||||
NONE = 0,
|
||||
MATRIX_DC = 1,
|
||||
@@ -31,7 +22,7 @@ local AUTO_SCRAM = {
|
||||
}
|
||||
|
||||
local charge_Kp = 1.0
|
||||
local charge_Ki = 0.0
|
||||
local charge_Ki = 0.00001
|
||||
local charge_Kd = 0.0
|
||||
|
||||
local rate_Kp = 1.0
|
||||
@@ -41,8 +32,6 @@ local rate_Kd = 0.0
|
||||
---@class facility_management
|
||||
local facility = {}
|
||||
|
||||
facility.PROCESS_MODES = PROCESS
|
||||
|
||||
-- create a new facility management object
|
||||
---@param num_reactors integer number of reactor units
|
||||
---@param cooling_conf table cooling configurations of reactor units
|
||||
@@ -54,9 +43,11 @@ function facility.new(num_reactors, cooling_conf)
|
||||
-- process control
|
||||
mode = PROCESS.INACTIVE,
|
||||
last_mode = PROCESS.INACTIVE,
|
||||
burn_target = 0.0, -- burn rate target for aggregate burn mode
|
||||
mode_set = PROCESS.SIMPLE,
|
||||
max_burn_combined = 0.0, -- maximum burn rate to clamp at
|
||||
burn_target = 0.1, -- burn rate target for aggregate burn mode
|
||||
charge_target = 0, -- FE charge target
|
||||
charge_rate = 0, -- FE/t charge rate target
|
||||
gen_rate_target = 0, -- FE/t charge rate target
|
||||
group_map = { 0, 0, 0, 0 }, -- units -> group IDs
|
||||
prio_defs = { {}, {}, {}, {} }, -- priority definitions (each level is a table of units)
|
||||
ascram = false,
|
||||
@@ -67,6 +58,7 @@ function facility.new(num_reactors, cooling_conf)
|
||||
initial_ramp = true,
|
||||
waiting_on_ramp = false,
|
||||
accumulator = 0.0,
|
||||
saturated = false,
|
||||
last_error = 0.0,
|
||||
last_time = 0.0,
|
||||
-- statistics
|
||||
@@ -214,6 +206,8 @@ function facility.new(num_reactors, cooling_conf)
|
||||
if state_changed then
|
||||
if self.last_mode == PROCESS.INACTIVE then
|
||||
local blade_count = 0
|
||||
self.max_burn_combined = 0.0
|
||||
|
||||
for i = 1, #self.prio_defs do
|
||||
table.sort(self.prio_defs[i],
|
||||
---@param a reactor_unit
|
||||
@@ -224,6 +218,7 @@ function facility.new(num_reactors, cooling_conf)
|
||||
for _, u in pairs(self.prio_defs[i]) do
|
||||
blade_count = blade_count + u.get_db().blade_count
|
||||
u.a_engage()
|
||||
self.max_burn_combined = self.max_burn_combined + (u.get_control_inf().lim_br10 / 10.0)
|
||||
end
|
||||
end
|
||||
|
||||
@@ -247,6 +242,18 @@ function facility.new(num_reactors, cooling_conf)
|
||||
if state_changed then
|
||||
self.time_start = now
|
||||
end
|
||||
elseif self.mode == PROCESS.BURN_RATE then
|
||||
-- a total aggregate burn rate
|
||||
if state_changed then
|
||||
-- nothing special to do
|
||||
elseif self.waiting_on_ramp and _all_units_ramped() then
|
||||
self.waiting_on_ramp = false
|
||||
self.time_start = now
|
||||
end
|
||||
|
||||
if not self.waiting_on_ramp then
|
||||
_allocate_burn_rate(self.burn_target, self.initial_ramp)
|
||||
end
|
||||
elseif self.mode == PROCESS.CHARGE then
|
||||
-- target a level of charge
|
||||
local error = (self.charge_target - avg_charge) / self.charge_conversion
|
||||
@@ -261,23 +268,32 @@ function facility.new(num_reactors, cooling_conf)
|
||||
end
|
||||
|
||||
if not self.waiting_on_ramp then
|
||||
self.accumulator = self.accumulator + (avg_charge / self.charge_conversion)
|
||||
if not self.saturated then
|
||||
self.accumulator = self.accumulator + ((avg_charge / self.charge_conversion) * (now - self.last_time))
|
||||
end
|
||||
|
||||
local runtime = now - self.time_start
|
||||
local integral = self.accumulator / runtime
|
||||
local derivative = (error - self.last_error) / (now - self.last_time)
|
||||
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 D = 0 -- (charge_Kd * derivative)
|
||||
|
||||
local setpoint = P + I + D
|
||||
|
||||
-- round setpoint -> setpoint rounded (sp_r)
|
||||
local sp_r = util.round(setpoint * 10.0) / 10.0
|
||||
|
||||
log.debug(util.sprintf("PROC_CHRG[%f] { CHRG[%f] ERR[%f] INT[%f] => SP[%f] SP_R[%f] <= P[%f] I[%f] D[%d] }",
|
||||
runtime, avg_charge, error, integral, setpoint, sp_r, P, I, D))
|
||||
-- clamp at range -> setpoint clamped (sp_c)
|
||||
local sp_c = math.max(0, math.min(sp_r, self.max_burn_combined))
|
||||
|
||||
_allocate_burn_rate(sp_r, self.initial_ramp)
|
||||
self.saturated = sp_r ~= sp_c
|
||||
|
||||
log.debug(util.sprintf("PROC_CHRG[%f] { CHRG[%f] ERR[%f] INT[%f] => SP[%f] SP_C[%f] <= P[%f] I[%f] D[%d] }",
|
||||
runtime, avg_charge, error, integral, setpoint, sp_c, P, I, D))
|
||||
|
||||
_allocate_burn_rate(sp_c, self.initial_ramp)
|
||||
|
||||
if self.initial_ramp then
|
||||
self.waiting_on_ramp = true
|
||||
@@ -285,7 +301,7 @@ function facility.new(num_reactors, cooling_conf)
|
||||
end
|
||||
elseif self.mode == PROCESS.GEN_RATE then
|
||||
-- target a rate of generation
|
||||
local error = (self.charge_rate - avg_inflow) / self.charge_conversion
|
||||
local error = (self.gen_rate_target - avg_inflow) / self.charge_conversion
|
||||
local setpoint = 0.0
|
||||
|
||||
if state_changed then
|
||||
@@ -303,36 +319,32 @@ function facility.new(num_reactors, cooling_conf)
|
||||
end
|
||||
|
||||
if not self.waiting_on_ramp then
|
||||
self.accumulator = self.accumulator + (avg_inflow / self.charge_conversion)
|
||||
if not self.saturated then
|
||||
self.accumulator = self.accumulator + ((avg_inflow / self.charge_conversion) * (now - self.last_time))
|
||||
end
|
||||
|
||||
local runtime = util.time_s() - self.time_start
|
||||
local integral = self.accumulator / runtime
|
||||
local derivative = (error - self.last_error) / (now - self.last_time)
|
||||
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 D = 0 -- (rate_Kd * derivative)
|
||||
|
||||
setpoint = P + I + D
|
||||
|
||||
-- round setpoint -> setpoint rounded (sp_r)
|
||||
local sp_r = util.round(setpoint * 10.0) / 10.0
|
||||
|
||||
log.debug(util.sprintf("PROC_RATE[%f] { RATE[%f] ERR[%f] INT[%f] => SP[%f] SP_R[%f] <= P[%f] I[%f] D[%f] }",
|
||||
runtime, avg_inflow, error, integral, setpoint, sp_r, P, I, D))
|
||||
-- clamp at range -> setpoint clamped (sp_c)
|
||||
local sp_c = math.max(0, math.min(sp_r, self.max_burn_combined))
|
||||
|
||||
_allocate_burn_rate(sp_r, false)
|
||||
end
|
||||
elseif self.mode == PROCESS.BURN_RATE then
|
||||
-- a total aggregate burn rate
|
||||
if state_changed then
|
||||
-- nothing special to do
|
||||
elseif self.waiting_on_ramp and _all_units_ramped() then
|
||||
self.waiting_on_ramp = false
|
||||
self.time_start = now
|
||||
end
|
||||
self.saturated = sp_r ~= sp_c
|
||||
|
||||
if not self.waiting_on_ramp then
|
||||
_allocate_burn_rate(self.burn_target, self.initial_ramp)
|
||||
log.debug(util.sprintf("PROC_RATE[%f] { RATE[%f] ERR[%f] INT[%f] => SP[%f] SP_C[%f] <= P[%f] I[%f] D[%f] }",
|
||||
runtime, avg_inflow, error, integral, setpoint, sp_c, P, I, D))
|
||||
|
||||
_allocate_burn_rate(sp_c, false)
|
||||
end
|
||||
end
|
||||
|
||||
@@ -387,6 +399,83 @@ function facility.new(num_reactors, cooling_conf)
|
||||
end
|
||||
end
|
||||
|
||||
-- COMMANDS --
|
||||
|
||||
-- SCRAM all reactor units
|
||||
function public.scram_all()
|
||||
for i = 1, #self.units do
|
||||
local u = self.units[i] ---@type reactor_unit
|
||||
u.scram()
|
||||
end
|
||||
end
|
||||
|
||||
-- stop auto control
|
||||
function public.auto_stop()
|
||||
self.mode = PROCESS.INACTIVE
|
||||
end
|
||||
|
||||
-- set automatic control configuration and start the process
|
||||
---@param config coord_auto_config configuration
|
||||
---@return table response ready state (successfully started) and current configuration (after updating)
|
||||
function public.auto_start(config)
|
||||
local ready = false
|
||||
|
||||
-- load up current limits
|
||||
local limits = {}
|
||||
for i = 1, num_reactors do
|
||||
local u = self.units[i] ---@type reactor_unit
|
||||
limits[i] = u.get_control_inf().lim_br10 * 10
|
||||
end
|
||||
|
||||
-- only allow changes if not running
|
||||
if self.mode == PROCESS.INACTIVE then
|
||||
if (type(config.mode) == "number") and (config.mode > PROCESS.INACTIVE) and (config.mode <= PROCESS.SIMPLE) then
|
||||
self.mode_set = config.mode
|
||||
end
|
||||
|
||||
if (type(config.burn_target) == "number") and config.burn_target >= 0.1 then
|
||||
self.burn_target = config.burn_target
|
||||
log.debug("SET BURN TARGET " .. config.burn_target)
|
||||
end
|
||||
|
||||
if (type(config.charge_target) == "number") and config.charge_target >= 0 then
|
||||
self.charge_target = config.charge_target
|
||||
log.debug("SET CHARGE TARGET " .. config.charge_target)
|
||||
end
|
||||
|
||||
if (type(config.gen_target) == "number") and config.gen_target >= 0 then
|
||||
self.gen_rate_target = config.gen_target
|
||||
log.debug("SET RATE TARGET " .. config.gen_target)
|
||||
end
|
||||
|
||||
if (type(config.limits) == "table") and (#config.limits == num_reactors) then
|
||||
for i = 1, num_reactors do
|
||||
local limit = config.limits[i]
|
||||
|
||||
if (type(limit) == "number") and (limit >= 0.1) then
|
||||
limits[i] = limit
|
||||
self.units[i].set_burn_limit(limit)
|
||||
log.debug("SET UNIT " .. i .. " LIMIT " .. limit)
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
ready = self.mode_set > 0
|
||||
|
||||
if (self.mode_set == PROCESS.CHARGE) and (self.charge_target <= 0) then
|
||||
ready = false
|
||||
elseif (self.mode_set == PROCESS.GEN_RATE) and (self.gen_rate_target <= 0) then
|
||||
ready = false
|
||||
elseif (self.mode_set == PROCESS.BURN_RATE) and (self.burn_target <= 0.1) then
|
||||
ready = false
|
||||
end
|
||||
|
||||
if ready then self.mode = self.mode_set end
|
||||
end
|
||||
|
||||
return { ready, self.mode_set, self.burn_target, self.charge_target, self.gen_rate_target, limits }
|
||||
end
|
||||
|
||||
-- SETTINGS --
|
||||
|
||||
-- set the automatic control group of a unit
|
||||
@@ -424,10 +513,27 @@ function facility.new(num_reactors, cooling_conf)
|
||||
return build
|
||||
end
|
||||
|
||||
-- get automatic process control status
|
||||
function public.get_control_status()
|
||||
return {
|
||||
self.mode,
|
||||
self.waiting_on_ramp,
|
||||
self.ascram,
|
||||
self.ascram_reason
|
||||
}
|
||||
end
|
||||
|
||||
-- get RTU statuses
|
||||
function public.get_rtu_statuses()
|
||||
local status = {}
|
||||
|
||||
-- power averages from induction matricies
|
||||
status.power = {
|
||||
self.avg_charge,
|
||||
self.avg_inflow,
|
||||
self.avg_outflow
|
||||
}
|
||||
|
||||
-- status of induction matricies (including tanks)
|
||||
status.induction = {}
|
||||
for i = 1, #self.induction do
|
||||
|
||||
Reference in New Issue
Block a user