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https://github.com/MikaylaFischler/cc-mek-scada.git
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#19 gen rate target process control working, some tweaks will be needed as I term is unstable due to limiting decimal precision
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Mikayla Fischler
parent
07ee792163
commit
ee739c214d
@ -12,6 +12,8 @@ local PROCESS = types.PROCESS
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-- 2856 FE per blade per 1 mB, 285.6 FE per blade per 0.1 mB (minimum)
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local POWER_PER_BLADE = util.joules_to_fe(7140)
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local FLOW_STABILITY_DELAY_S = unit.FLOW_STABILITY_DELAY_MS / 1000
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local HIGH_CHARGE = 1.0
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local RE_ENABLE_CHARGE = 0.95
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@ -23,12 +25,12 @@ local AUTO_SCRAM = {
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}
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local charge_Kp = 1.0
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local charge_Ki = 0.00001
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local charge_Ki = 0.0
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local charge_Kd = 0.0
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local rate_Kp = 1.0
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local rate_Ki = 0.00001
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local rate_Kd = 0.0
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local rate_Kp = 0.75
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local rate_Ki = 0.01
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local rate_Kd = -0.10
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---@class facility_management
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local facility = {}
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@ -51,8 +53,8 @@ function facility.new(num_reactors, cooling_conf)
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mode_set = PROCESS.SIMPLE,
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max_burn_combined = 0.0, -- maximum burn rate to clamp at
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burn_target = 0.1, -- burn rate target for aggregate burn mode
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charge_target = 0, -- FE charge target
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gen_rate_target = 0, -- FE/t charge rate target
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charge_setpoint = 0, -- FE charge target setpoint
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gen_rate_setpoint = 0, -- FE/t charge rate target setpoint
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group_map = { 0, 0, 0, 0 }, -- units -> group IDs
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prio_defs = { {}, {}, {}, {} }, -- priority definitions (each level is a table of units)
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at_max_burn = false,
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@ -63,15 +65,17 @@ function facility.new(num_reactors, cooling_conf)
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time_start = 0.0,
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initial_ramp = true,
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waiting_on_ramp = false,
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waiting_on_stable = false,
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accumulator = 0.0,
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saturated = false,
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last_update = 0,
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last_error = 0.0,
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last_time = 0.0,
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-- statistics
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im_stat_init = false,
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avg_charge = util.mov_avg(20, 0.0),
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avg_inflow = util.mov_avg(20, 0.0),
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avg_outflow = util.mov_avg(20, 0.0)
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avg_charge = util.mov_avg(10, 0.0),
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avg_inflow = util.mov_avg(10, 0.0),
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avg_outflow = util.mov_avg(10, 0.0)
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}
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-- create units
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@ -190,15 +194,20 @@ function facility.new(num_reactors, cooling_conf)
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_unlink_disconnected_units(self.redstone)
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-- calculate moving averages for induction matrix
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local charge_update = 0
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local rate_update = 0
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if self.induction[1] ~= nil then
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local matrix = self.induction[1] ---@type unit_session
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local db = matrix.get_db() ---@type imatrix_session_db
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if (db.state.last_update > 0) and (db.tanks.last_update > 0) then
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charge_update = db.tanks.last_update
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rate_update = db.state.last_update
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if (charge_update > 0) and (rate_update > 0) then
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if self.im_stat_init then
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self.avg_charge.record(util.joules_to_fe(db.tanks.energy), db.tanks.last_update)
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self.avg_inflow.record(util.joules_to_fe(db.state.last_input), db.state.last_update)
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self.avg_outflow.record(util.joules_to_fe(db.state.last_output), db.state.last_update)
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self.avg_charge.record(util.joules_to_fe(db.tanks.energy), charge_update)
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self.avg_inflow.record(util.joules_to_fe(db.state.last_input), rate_update)
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self.avg_outflow.record(util.joules_to_fe(db.state.last_output), rate_update)
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else
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self.im_stat_init = true
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self.avg_charge.reset(util.joules_to_fe(db.tanks.energy))
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@ -273,6 +282,7 @@ function facility.new(num_reactors, cooling_conf)
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self.initial_ramp = true
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self.waiting_on_ramp = false
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self.waiting_on_stable = false
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else
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self.initial_ramp = false
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end
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@ -327,9 +337,11 @@ function facility.new(num_reactors, cooling_conf)
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end
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elseif self.mode == PROCESS.CHARGE then
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-- target a level of charge
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local error = (self.charge_target - avg_charge) / self.charge_conversion
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-- convert to kFE to make constants not microscopic
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local error = (self.charge_setpoint - avg_charge) / 1000000
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if state_changed then
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self.last_time = now
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log.debug(util.c("FAC: CHARGE mode first call completed"))
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elseif self.waiting_on_ramp and _all_units_ramped() then
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self.waiting_on_ramp = false
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@ -341,7 +353,7 @@ function facility.new(num_reactors, cooling_conf)
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if not self.waiting_on_ramp then
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if not self.saturated then
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self.accumulator = self.accumulator + ((avg_charge / self.charge_conversion) * (now - self.last_time))
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self.accumulator = self.accumulator + (error * (now - self.last_time))
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end
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local runtime = now - self.time_start
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@ -367,59 +379,89 @@ function facility.new(num_reactors, cooling_conf)
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_allocate_burn_rate(sp_c, self.initial_ramp)
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self.last_time = now
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if self.initial_ramp then
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self.waiting_on_ramp = true
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end
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end
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elseif self.mode == PROCESS.GEN_RATE then
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-- target a rate of generation
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local error = (self.gen_rate_target - avg_inflow) / self.charge_conversion
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local setpoint = 0.0
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-- convert to MFE to make constants not microscopic
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local error = (self.gen_rate_setpoint - avg_inflow) / 1000000
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local output = 0.0
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if state_changed then
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-- estimate an initial setpoint
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setpoint = error / self.charge_conversion
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output = (error * 1000000) / self.charge_conversion
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local sp_r = util.round(setpoint * 10.0) / 10.0
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local out_r = util.round(output * 10.0) / 10.0
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_allocate_burn_rate(sp_r, true)
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log.debug(util.c("FAC: GEN_RATE mode first call completed"))
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elseif self.waiting_on_ramp and _all_units_ramped() then
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self.waiting_on_ramp = false
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log.debug(util.c("FAC: initial burn rate for gen rate setpoint is " .. out_r))
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self.time_start = now
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self.accumulator = 0
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log.debug(util.c("FAC: GEN_RATE mode initial ramp completed"))
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end
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_allocate_burn_rate(out_r, true)
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if not self.waiting_on_ramp then
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self.waiting_on_ramp = true
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self.status_text = { "GENERATION MODE", "starting up" }
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elseif self.waiting_on_ramp then
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if _all_units_ramped() then
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self.waiting_on_ramp = false
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self.waiting_on_stable = true
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self.time_start = now
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self.status_text = { "GENERATION MODE", "holding ramped rate" }
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log.debug("FAC: GEN_RATE mode initial ramp completed, holding for stablization time")
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end
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elseif self.waiting_on_stable then
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if (now - self.time_start) > FLOW_STABILITY_DELAY_S then
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self.waiting_on_stable = false
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self.time_start = now
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self.last_time = now
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self.last_error = 0
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self.accumulator = 0
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self.status_text = { "GENERATION MODE", "running control loop" }
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log.debug("FAC: GEN_RATE mode initial hold completed")
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end
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elseif self.last_update ~= rate_update then
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if not self.saturated then
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self.accumulator = self.accumulator + ((avg_inflow / self.charge_conversion) * (now - self.last_time))
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self.accumulator = self.accumulator + (error * (now - self.last_time))
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end
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local runtime = util.time_s() - self.time_start
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local integral = self.accumulator
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-- local derivative = (error - self.last_error) / (now - self.last_time)
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local derivative = (error - self.last_error) / (now - self.last_time)
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local P = (rate_Kp * error)
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local I = (rate_Ki * integral)
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local D = 0 -- (rate_Kd * derivative)
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local D = (rate_Kd * derivative)
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setpoint = P + I + D
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-- velocity (rate) (derivative of charge level => rate) feed forward
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local FF = self.gen_rate_setpoint / self.charge_conversion
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-- round setpoint -> setpoint rounded (sp_r)
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local sp_r = util.round(setpoint * 10.0) / 10.0
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output = P + I + D + FF
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-- clamp at range -> setpoint clamped (sp_c)
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local sp_c = math.max(0, math.min(sp_r, self.max_burn_combined))
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-- round output -> output rounded (sp_r)
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local out_r = util.round(output * 10.0) / 10.0
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self.saturated = sp_r ~= sp_c
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-- clamp at range -> output clamped (sp_c)
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local out_c = math.max(0, math.min(out_r, self.max_burn_combined))
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log.debug(util.sprintf("PROC_RATE[%f] { RATE[%f] ERR[%f] INT[%f] => SP[%f] SP_C[%f] <= P[%f] I[%f] D[%f] }",
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runtime, avg_inflow, error, integral, setpoint, sp_c, P, I, D))
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self.saturated = out_r ~= out_c
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_allocate_burn_rate(sp_c, false)
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log.debug(util.sprintf("GEN_RATE[%f] { RATE[%f] ERR[%f] INT[%f] => OUT[%f] OUT_C[%f] <= P[%f] I[%f] D[%f] }",
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runtime, avg_inflow, error, integral, output, out_c, P, I, D))
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_allocate_burn_rate(out_c, false)
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self.last_time = now
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self.last_error = error
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end
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self.last_update = rate_update
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elseif self.mode == PROCESS.MATRIX_FAULT_IDLE then
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-- exceeded charge, wait until condition clears
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if self.ascram_reason == AUTO_SCRAM.NONE then
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@ -586,22 +628,22 @@ function facility.new(num_reactors, cooling_conf)
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if self.mode == PROCESS.INACTIVE then
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if (type(config.mode) == "number") and (config.mode > PROCESS.INACTIVE) and (config.mode <= PROCESS.GEN_RATE) then
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self.mode_set = config.mode
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log.debug("SET MODE " .. config.mode)
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log.debug("SET MODE " .. self.mode_set)
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end
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if (type(config.burn_target) == "number") and config.burn_target >= 0.1 then
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self.burn_target = config.burn_target
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log.debug("SET BURN TARGET " .. config.burn_target)
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log.debug("SET BURN TARGET " .. self.burn_target)
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end
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if (type(config.charge_target) == "number") and config.charge_target >= 0 then
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self.charge_target = config.charge_target
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log.debug("SET CHARGE TARGET " .. config.charge_target)
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self.charge_setpoint = config.charge_target
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log.debug("SET CHARGE TARGET " .. self.charge_setpoint)
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end
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if (type(config.gen_target) == "number") and config.gen_target >= 0 then
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self.gen_rate_target = config.gen_target
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log.debug("SET RATE TARGET " .. config.gen_target)
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self.gen_rate_setpoint = config.gen_target * 1000 -- convert kFE to FE
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log.debug("SET RATE TARGET " .. self.gen_rate_setpoint)
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end
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if (type(config.limits) == "table") and (#config.limits == num_reactors) then
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@ -618,9 +660,9 @@ function facility.new(num_reactors, cooling_conf)
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ready = self.mode_set > 0
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if (self.mode_set == PROCESS.CHARGE) and (self.charge_target <= 0) then
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if (self.mode_set == PROCESS.CHARGE) and (self.charge_setpoint <= 0) then
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ready = false
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elseif (self.mode_set == PROCESS.GEN_RATE) and (self.gen_rate_target <= 0) then
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elseif (self.mode_set == PROCESS.GEN_RATE) and (self.gen_rate_setpoint <= 0) then
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ready = false
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elseif (self.mode_set == PROCESS.BURN_RATE) and (self.burn_target < 0.1) then
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ready = false
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@ -631,7 +673,7 @@ function facility.new(num_reactors, cooling_conf)
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if ready then self.mode = self.mode_set end
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end
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return { ready, self.mode_set, self.burn_target, self.charge_target, self.gen_rate_target, limits }
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return { ready, self.mode_set, self.burn_target, self.charge_setpoint, self.gen_rate_setpoint, limits }
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end
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-- SETTINGS --
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@ -677,7 +719,7 @@ function facility.new(num_reactors, cooling_conf)
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self.all_sys_ok,
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self.units_ready,
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self.mode,
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self.waiting_on_ramp,
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self.waiting_on_ramp or self.waiting_on_stable,
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self.at_max_burn or self.saturated,
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self.ascram,
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self.status_text[1],
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@ -50,6 +50,8 @@ local AISTATE = {
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RING_BACK_TRIPPING = 5
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}
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unit.FLOW_STABILITY_DELAY_MS = FLOW_STABILITY_DELAY_MS
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---@class alarm_def
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---@field state ALARM_INT_STATE internal alarm state
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---@field trip_time integer time (ms) when first tripped
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@ -14,7 +14,7 @@ local svsessions = require("supervisor.session.svsessions")
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local config = require("supervisor.config")
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local supervisor = require("supervisor.supervisor")
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local SUPERVISOR_VERSION = "beta-v0.10.2"
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local SUPERVISOR_VERSION = "beta-v0.10.3"
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local print = util.print
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local println = util.println
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