Skip to content

Commit

Permalink
BF: Basics of closed-loop control #1046
Browse files Browse the repository at this point in the history
  • Loading branch information
@amesin13
amesin13 committed Nov 10, 2024
1 parent 1f12ca8 commit 6452442
Showing 1 changed file with 0 additions and 165 deletions.
165 changes: 0 additions & 165 deletions src/mlpro/bf/control/controlsystems/basic.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,7 @@
## -- yyyy-mm-dd Ver. Auth. Description
## -- 2024-10-04 0.1.0 DA Initial implementation
## -- 2024-10-09 0.2.0 DA Refactoring
<<<<<<< HEAD
## -- 2024-11-04 0.3.0 ASP Implementation class CascadeControlSystem
=======
## -- 2024-11-09 0.3.0 DA Refactoring
>>>>>>> origin/bf/oa/control
## -------------------------------------------------------------------------------------------------

"""
Expand All @@ -28,29 +24,17 @@
from typing import Union

from mlpro.bf.various import Log
<<<<<<< HEAD
from mlpro.bf.control import Controller, ControlledSystem, ControlSystem,CascadedSystem
from mlpro.bf.control.operators import Comparator, Integrator,Converter
from mlpro.bf.control.basics import ControlledVariable,ControlVariable,SetPoint
from mlpro.bf.math import *
=======
from mlpro.bf.systems import System
from mlpro.bf.control import Controller, ControlledSystem
from mlpro.bf.control.controlsystems import CascadeControlSystem
from mlpro.bf.control.operators import Integrator

>>>>>>> origin/bf/oa/control



## -------------------------------------------------------------------------------------------------
## -------------------------------------------------------------------------------------------------
<<<<<<< HEAD
class ControlSystemBasic (ControlSystem):

=======
class BasicControlSystem (CascadeControlSystem):
>>>>>>> origin/bf/oa/control
"""
Simplified container class for a basic synchronous control system containing
Expand Down Expand Up @@ -109,154 +93,5 @@ def __init__( self,
p_name = p_name,
p_cycle_limit = p_cycle_limit,
p_visualize = p_visualize,
<<<<<<< HEAD
p_logging = p_logging )


## -------------------------------------------------------------------------------------------------
def _setup(self, p_mode, p_visualize: bool, p_logging) -> ControlWorkflow:

# 1 Create a new control cycle
control_workflow = ControlWorkflow( p_mode = p_mode,
p_visualize = p_visualize,
p_logging = p_logging )


# 2 Create and add a comparator
comparator = Comparator( p_visualize = p_visualize, p_logging = p_logging )
control_workflow.add_task( p_task = comparator )


# 3 Add the controller
control_workflow.add_task( p_task = self._controller, p_pred_tasks = [comparator] )


# 4 Optionally create and add an integrator
if self._ctrl_var_integration:
integrator = Integrator( p_visualize = p_visualize, p_logging = p_logging )
control_workflow.add_task( p_task = integrator, p_pred_tasks = [self._controller] )
pred_sys = integrator

else:
pred_sys = self._controller


# 5 Add the controlled system
control_workflow.add_task( p_task = self._controlled_system, p_pred_tasks = [pred_sys] )
self._controlled_system.system.set_mode( p_mode = p_mode )


# 6 Initialize and return the prepared control workflow
control_workflow.get_so().init( p_ctrlled_var_space = self._controlled_system.system.get_state_space(),
p_ctrl_var_space = self._controlled_system.system.get_action_space() )

return control_workflow


## -------------------------------------------------------------------------------------------------
## -------------------------------------------------------------------------------------------------
class CascadeControlSystem (ControlSystem):

"""
Simplified container class for a basic synchronous cascade control system containing
- list of controller
- list controlled system
- an optional integrator for the control variable
Parameters
----------
p_controllers : list[Controller]
Controllers to be used in the control workflow
p_controlled_systems : list[ControlledSystem]
Controlled systems to be used in the control workflow
p_ctrl_var_integration : bool = False
If True, an optional intrator is added to control workflow
"""

C_TYPE = 'Cascade Control System'

## -------------------------------------------------------------------------------------------------
def __init__( self,
p_controllers : list[Controller],
p_cascaded_system : list[CascadedSystem],
p_mode,
p_ctrl_var_integration : bool = False,
p_cycle_limit = 0,
p_visualize : bool = False,
p_logging = Log.C_LOG_ALL ):

self._control_loops = len(p_controllers)
self._controllers = p_controllers
self._cascaded_system = p_cascaded_system
self._ctrl_var_integration = p_ctrl_var_integration

super().__init__( p_mode = p_mode,
p_cycle_limit = p_cycle_limit,
p_visualize = p_visualize,
p_logging = p_logging )


## -------------------------------------------------------------------------------------------------
def _setup(self, p_mode, p_visualize: bool, p_logging) -> ControlWorkflow:

# 1 Create a new control cycle
control_workflow = ControlWorkflow( p_mode = p_mode,
p_visualize = p_visualize,
p_logging = p_logging )


num_converters = self._control_loops-1
pred_sys = None

# 2 Add Controllers to the workflow
for controller in self._controllers:
comparator = Comparator( p_visualize = p_visualize, p_logging = p_logging )

if pred_sys == None:
control_workflow.add_task( p_task = comparator )
else:
control_workflow.add_task( p_task = comparator, p_pred_tasks = [pred_sys] )

control_workflow.add_task( p_task = controller, p_pred_tasks = [comparator] )
pred_sys = controller

#Add a converter Task, if more than one controller exist. ControlVariable --> SetPoint
if num_converters >0:
converter = Converter(p_src_type=ControlVariable,p_dst_type=SetPoint,p_visualize = p_visualize, p_logging = p_logging )
control_workflow.add_task(p_task=converter,p_pred_tasks=[pred_sys])
num_converters-=1
pred_sys = converter

num_converters = self._control_loops-1
m_state_space = MSpace()
m_action_space= MSpace()


# 3 Add the controlled systems to the workflow
for idx in range(1,self._control_loops+1):
self._cascaded_system[-idx].system.set_mode(p_mode = p_mode)
m_state_space.append(p_set= self._cascaded_system[-idx].system.get_state_space())
m_action_space.append(p_set= self._cascaded_system[-idx].system.get_action_space())
control_workflow.add_task( p_task =self._cascaded_system[-idx], p_pred_tasks = [pred_sys] )
pred_sys= self._cascaded_system[-idx]


#Add a converter Task, if more than one cotrolled system exist. ControlledVariable--> ControlVariable
if num_converters >0:
converter = Converter(p_src_type=ControlledVariable,p_dst_type=ControlVariable,p_visualize = p_visualize, p_logging = p_logging )
control_workflow.add_task(p_task=converter,p_pred_tasks=[pred_sys])
num_converters-=1
pred_sys = converter


# 4 Initialize and return the prepared control workflow
control_workflow.get_so().init( p_ctrlled_var_space = m_state_space,
p_ctrl_var_space = m_action_space)


return control_workflow
=======
p_logging = p_logging,
**p_kwargs )
>>>>>>> origin/bf/oa/control

0 comments on commit 6452442

Please sign in to comment.