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https://github.com/hirschmann/pid-autotune
PID-controller/brewing kettle simulation
https://github.com/hirschmann/pid-autotune
autotune brewing pid python simulation
Last synced: about 8 hours ago
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PID-controller/brewing kettle simulation
- Host: GitHub
- URL: https://github.com/hirschmann/pid-autotune
- Owner: hirschmann
- License: mit
- Created: 2017-04-07T17:28:11.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2017-07-14T20:40:50.000Z (over 7 years ago)
- Last Synced: 2024-10-30T06:32:15.734Z (15 days ago)
- Topics: autotune, brewing, pid, python, simulation
- Language: Python
- Size: 93.8 KB
- Stars: 145
- Watchers: 8
- Forks: 40
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
Awesome Lists containing this project
README
# PID-controller/brewing kettle simulation
This project has been created to support tuning a PID controller for a home brewing setup using [CraftBeerPI](https://github.com/Manuel83/craftbeerpi).
It consists of a brewing kettle simulation, a PID controller (based on [Arduino PID Library](http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/)) and a PID autotune algorithm (based on [Arduino PID Autotune Library](http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/))
### Project goals
- allow users to find PID parameters which provide a sufficient basis for further manual tuning
- allow users to compare different PID parameters
- help users to understand how different PID parameters (Kp, Ki, Kd) influence a PID controller's behavior (not only limited to home brewing setups)
- speed up auto tuning
## PID comparison
Compare different PID parameters using the default kettle setup:
`sim.py --pid 'reference' 98 0.66 230 --pid 'Kp too low' 30 0.66 230 --pid 'Ki too low' 98 0.01 230`
## PID autotune simulation
Simulate a PID autotune run on a 50l kettle with a 4 kW heater:
`sim.py --atune --volume 50 --power 4`
Generated PID parameters using different tuning rules:
```
rule: ziegler-nichols
Kp: 7.66141138481997
Ki: 0.4086086071903984
Kd: 35.91286586634361
rule: tyreus-luyben
Kp: 5.920181524633613
Ki: 0.07104217829560336
Kd: 35.239175741866745
rule: ciancone-marlin
Kp: 3.9467876830890756
Ki: 0.46308975481578485
Kd: 18.272165199486462
rule: pessen-integral
Kp: 9.30314239585282
Ki: 0.6202094930568547
Kd: 52.46132929992192
rule: some-overshoot
Kp: 4.341466451397983
Ki: 0.2315448774078924
Kd: 54.26833064247478
rule: no-overshoot
Kp: 2.60487987083879
Ki: 0.13892692644473545
Kd: 32.56099838548487
rule: brewing
Kp: 104.1951948335516
Ki: 0.8335615586684127
Kd: 205.64841085569392
```
## Options
```
usage: sim.py [-h] [-p name kp ki kd] [-a] [-v] [-e] [-n] [-t T] [-s T]
[--ambient T] [-i t] [-d t] [--sampletime t] [--volume V]
[--diameter d] [--power P] [--heatloss x] [--minout x]
[--maxout x]
optional arguments:
-h, --help show this help message and exit
-p name kp ki kd, --pid name kp ki kd
simulate a PID controller
-a, --atune simulate autotune
-v, --verbose be verbose
-e, --export export data to a .csv file
-n, --noplot do not plot the results
-t T, --temp T initial kettle temperature in °C (default: 40)
-s T, --setpoint T target temperature in °C (default: 45)
--ambient T ambient temperature in °C (default: 20)
-i t, --interval t simulated interval in minutes (default: 20)
-d t, --delay t system response delay in seconds (default: 15)
--sampletime t temperature sample time in seconds (default: 5)
--volume V kettle content volume in liters (default: 70)
--diameter d kettle diameter in cm (default: 50)
--power P heater power in kW (default: 6)
--heatloss x kettle heat loss factor (default: 1)
--minout x minimum PID controller output (default: 0)
--maxout x maximum PID controller output (default: 100)
```
# Installation
1. Install _git_ and _python3_
2. Clone this repository:
`git clone https://github.com/hirschmann/pid-autotune.git`
3. Install project dependencies:
`pip install matplotlib`
After you have completed these steps, you should be able to run _sim.py_ as shown above. If plots are not shown, you have to configure the matplotlib backend, see [What is a backend?](http://matplotlib.org/faq/usage_faq.html#what-is-a-backend)