diff --git a/src/doubletank.jl b/src/doubletank.jl
index 9637d60692c147199ca46cd4abaf6501858ff03f..64225df696abbd4f1c981c06092b20ca054bfeae 100644
--- a/src/doubletank.jl
+++ b/src/doubletank.jl
@@ -31,8 +31,10 @@ function (p::PID)(r, y, onv=(1,1,1))
bd = N*K*Td/(N*h+Td)
Tot = 0.0
- P = K*(b*r-y)
+ P = 0
+ D = 0
if onv[1]==1
+ P = K*(b*r-y)
Tot += P
end
if onv[3]==1
@@ -46,6 +48,8 @@ function (p::PID)(r, y, onv=(1,1,1))
I += Ichange
end
Tot += I
+ else
+ I = 0
end
y_old = y
@pack! p = P, I, D, Tot, y_old
@@ -77,14 +81,14 @@ function qu(p, u)
u*p.α
end
-function control(p::DoubleTankSimulator, u::Number)
+function control(p::DoubleTankSimulator, u::Number, load::Number, flow::Bool)
@unpack a1, a2, g, x, A, h, scale = p
x *= scale
#The simulator should operate on physical values but u should be in [0,1]
- u = clamp(u, inputrange(p)[1]...)
+ u = clamp(u, inputrange(p)[1]...) + load
- qut = a1*sqrt(2*g*x[1]) #m^3/s
+ qut = flow ? a1*sqrt(2*g*x[1]) : 0 #m^3/s
dA1 = qu(p,u) - qut #m^3/s
if -dA1*h>x[1]*A
@@ -95,7 +99,7 @@ function control(p::DoubleTankSimulator, u::Number)
end
dA2 = qut - a2*sqrt(2*g*x[2]) #m^3/s
- if(-dA2*h>x[2]*A)
+ if -dA2*h>x[2]*A
dA2 = -x[2]*A/h
end
x[1] += (dA1*h)/A
diff --git a/src/tankdemo.jl b/src/tankdemo.jl
index 113ec301209f0035f0fab0138996adba3f634e4d..9ad96608d03611ce84c0a386178f6b75098ad835 100644
--- a/src/tankdemo.jl
+++ b/src/tankdemo.jl
@@ -24,12 +24,14 @@ function runsimulation(;simulated=true, webservice=true, port=8000, σ = 0.001,
n = 2
end
onv = Int.([gui[s]=="On" for s in [:pOn, :iOn, :dOn]])
+ load = gui[:load]=="Upper" ? 0.1 : 0
+ flow = gui[:flow]=="None"
rv = pidcontroller(r, y, onv)
if gui[:mode]=="Automatic"
gui[:u] = clamp(round(rv,digits=2), 0, 1) #u's constructor has only a dummy graphic so this is fine
- control(P, rv)
+ control(P, rv, load, flow)
elseif gui[:mode]=="Manual"
- control(P, gui[:u])
+ control(P, gui[:u], load, flow)
#bumpless transfer:
if gui[:iOn]=="On"
pidcontroller.I = gui[:u]-(pidcontroller.Tot-pidcontroller.I)
diff --git a/src/tankgraphic.jl b/src/tankgraphic.jl
index c6ee8176fc89d0d38041c2f4e178123b787a48be..d139abbf56c76afe158f01faafa8912231dcc4d3 100644
--- a/src/tankgraphic.jl
+++ b/src/tankgraphic.jl
@@ -54,7 +54,7 @@ function water_container(width, height, fill, x=0, y=0)
end
-function tank_construct(upper, lower, pump_speed = 1, tnum = 0, r = -1)
+function tank_construct(upper, lower, pump_speed = 1, tnum = 0, r = -1, load = 0, blocked = false)
height = 250
width = 200
@@ -86,8 +86,9 @@ function tank_construct(upper, lower, pump_speed = 1, tnum = 0, r = -1)
w1 = mouth_width*sqrt(max(0,pump_speed))
- w2 = mouth_width*sqrt(max(0, upper))
+ w2 = blocked ? 0 : mouth_width*sqrt(max(0, upper))
w3 = mouth_width*sqrt(max(0, lower))
+ w4 = mouth_width*sqrt(max(0, load))
container1 = water_container(width, height, upper, upper_x, upper_y)
container2 = water_container(width, height, lower, lower_x, lower_y)
@@ -98,6 +99,7 @@ function tank_construct(upper, lower, pump_speed = 1, tnum = 0, r = -1)
stream(w1, height+50, upper_x+(width-w1)/2, 50)...,
stream(w2, height+50, upper_x+(width-w2)/2, height+100)...,
stream(w3, 100, upper_x+(width-w3)/2, 2*height+150)...,
+ stream(w4, height, upper_x, 100)...,
container1, container2, redarrow,
svg_rect(tank_width, tank_height, tank_x, tank_y),
pipe,
diff --git a/src/tanklabgui.jl b/src/tanklabgui.jl
index b242fc57bc36e35d95c17f15112a960e264a6981..2169bc0b1f4a7b8e4778cea9df23d740efdff761 100644
--- a/src/tanklabgui.jl
+++ b/src/tanklabgui.jl
@@ -10,6 +10,7 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
maxplotlength = 800
gui = GUI()
ptfr = 3.8 #pump to flow ratio, approximate
+ plotfreeze = -1
"""
@@ -35,6 +36,9 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
pOn in togglebuttons(["On", "Off"], label="P"),
iOn in togglebuttons(["On", "Off"], label="I"),
dOn in togglebuttons(["On", "Off"], label="D"),
+ load in togglebuttons(["None", "Upper"], label="load disturbance"),
+ flow in togglebuttons(["None", "Upper"], label="stop outflow "),
+ freeze in togglebuttons(["On", "Freeze"], label="plots "),
#expcsv in button("Export Data"),
rbox in textbox("0.5", label="r")
@@ -48,7 +52,7 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
rv = parse(Float64, rbox)
catch
end
- if 0.0<rv<1.0
+ if 0.0<=rv<=1.0
observe(r).val = rv
end
end
@@ -60,11 +64,11 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
if observe(tankno)[] == "Upper"
- tankg = tank_construct(measure(P)..., observe(u)[]*ptfr, 1, observe(r).val)
+ tankg = tank_construct(measure(P)..., observe(u)[]*ptfr, 1, observe(r).val,
+ observe(load)[] == "Upper" ? 0.1*ptfr : 0, observe(flow)[] == "Upper")
elseif observe(tankno)[] == "Lower"
- tankg = tank_construct(measure(P)..., observe(u)[]*ptfr, 2, observe(r).val)
- else
- tankg = tank_construct(measure(P)..., observe(u)[]*ptfr)
+ tankg = tank_construct(measure(P)..., observe(u)[]*ptfr, 2, observe(r).val,
+ observe(load)[] == "Upper" ? 0.1*ptfr : 0, observe(flow)[] == "Upper")
end
Node(:div, tankg, id="tanks", attributes=tankattr)
end
@@ -73,7 +77,7 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
w2, graphic2 = @construct for
plotdummy in checkbox(false, label="This button does nothing")
- dataln = length(gui.data[1])
+ dataln = plotfreeze == -1 ? length(gui.data[1]) : plotfreeze
if dataln > maxplotlength
start = dataln - maxplotlength
else
@@ -81,12 +85,12 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
end
lnv = glnv[1:min(dataln, maxplotlength+1)]
p = plot(layout=(2,1), size=(700, 600), xlabel="seconds")
- plot!(p[1], lnv, gui.data[1][start:end], label="y", ylim=boundsupper)
- plot!(p[1], lnv, gui.data[2][start:end], label="r")
- plot!(p[2], lnv, gui.data[3][start:end], label="P", ylim=boundslower)
- plot!(p[2], lnv, gui.data[4][start:end], label="I")
- plot!(p[2], lnv, gui.data[5][start:end], label="D")
- plot!(p[2], lnv, gui.data[6][start:end], label="Tot", color=:black)
+ plot!(p[1], lnv, gui.data[1][start:dataln], label="y", ylim=boundsupper)
+ plot!(p[1], lnv, gui.data[2][start:dataln], label="r")
+ plot!(p[2], lnv, gui.data[3][start:dataln], label="P", ylim=boundslower)
+ plot!(p[2], lnv, gui.data[4][start:dataln], label="I")
+ plot!(p[2], lnv, gui.data[5][start:dataln], label="D")
+ plot!(p[2], lnv, gui.data[6][start:dataln], label="Tot", color=:black)
end
@async run_process(P, gui, tankpid)
@@ -97,6 +101,14 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
end
end
+ on(observe(freeze)) do val
+ if val=="On"
+ plotfreeze = -1
+ else
+ plotfreeze = length(gui.data[1])
+ end
+ end
+
on(observe(iOn)) do val
if val=="Off"
tankpid.I = 0
@@ -110,7 +122,7 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
add!(gui, w2)
layout = make_grid([100], [50, 25, 25])
- settings_element = make_grid(7,1)
+ settings_element = make_grid(10,1)
p_element = make_grid(2, 1)
p_element = setindex_(p_element, dom"div[display=inline-block]"(gui.widgets[:pOn]), 1, 1)
@@ -131,6 +143,9 @@ function makegui(P, run_process, plottingframerate = 10, guiframerate = 10)
settings_element = setindex_(settings_element, p_element, 5, 1)
settings_element = setindex_(settings_element, i_element, 6, 1)
settings_element = setindex_(settings_element, d_element, 7, 1)
+ settings_element = setindex_(settings_element, dom"div"(gui.widgets[:load]), 8, 1)
+ settings_element = setindex_(settings_element, dom"div"(gui.widgets[:flow]), 9, 1)
+ settings_element = setindex_(settings_element, dom"div"(gui.widgets[:freeze]), 10, 1)
layout = setindex_(layout, graphic2, 1, 1)
layout = setindex_(layout, Node(:div, graphic1, dummygraphic1, dummygraphic2,