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Ls372 custom pid update #753

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merged 4 commits into from
Sep 16, 2024
Merged

Ls372 custom pid update #753

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34cc140
Adds pacemaker to custom PID loop
jlashner Jun 5, 2024
e034b33
Edited custom PID to not allow negative I
mjrand Sep 12, 2024
6fea776
Fixed white space and comments
mjrand Sep 12, 2024
0c887df
Merge remote-tracking branch 'origin/ls372-custom-pid-pacemaker' into…
BrianJKoopman Sep 16, 2024
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19 changes: 16 additions & 3 deletions socs/agents/lakeshore372/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -897,11 +897,12 @@ def get_input_setup(self, session, params):
@ocs_agent.param('P', type=float)
@ocs_agent.param('I', type=float)
@ocs_agent.param('update_time', type=float)
@ocs_agent.param('query_rate', type=float, default=10.)
@ocs_agent.param('sample_heater_range', type=float, default=10e-3)
@ocs_agent.param('test_mode', type=bool, default=False)
def custom_pid(self, session, params):
"""custom_pid(setpoint, heater, channel, P, \
I, update_time, sample_heater_range=10e-3, \
I, update_time, query_rate=10., sample_heater_range=10e-3, \
test_mode=False)

**Process** - Set custom software PID parameters for servo control of fridge
Expand All @@ -914,6 +915,7 @@ def custom_pid(self, session, params):
P (float): Proportional value in Watts/Kelvin
I (float): Integral Value in Hz
update_time (float): Time between PID updates in seconds
query_rate (float): Rate at which to query temp data in Hz.
sample_heater_range (float): Range for sample heater in Amps.
Default is 10e-3.
test_mode (bool, optional): Run the Process loop only once.
Expand All @@ -930,6 +932,7 @@ def custom_pid(self, session, params):
{"Channel_02": {"T": 293.644, "R": 33.752, "timestamps": 1601924482.722671}}
}
"""
pm = Pacemaker(params['query_rate'])

with self._acq_proc_lock.acquire_timeout(timeout=0, job='custom_pid') \
as acq_acquired, \
Expand Down Expand Up @@ -1004,16 +1007,26 @@ def custom_pid(self, session, params):
self.log.info(f"Starting PID on heater {heater}, ch {ch} to setpoint {setpoint} K")

while self.custom_pid:
pm.sleep()

# Get a list of T and R at the maximum sample frequency
temps.append(self.module.get_temp(unit='kelvin', chan=ch))
resistances.append(self.module.get_temp(unit='ohms', chan=ch))
times.append(time.time())

attempted_heater_pow = 0
# Calculate and apply the PID based on the most recent temperature set
if times[-1] - last_pid > update_time:
heater_P = P_val * (setpoint - np.mean(np.array(temps)))
heater_I += P_val * I_val * (delta_t * np.sum(setpoint - np.array(temps)))
heater_pow = max(0.0, heater_P + heater_I)

# Update the I_val of the PID
# The I_val should not become negative because negative heater values are unphysical
d_heater_I = P_val * I_val * (delta_t * np.sum(setpoint - np.array(temps)))
heater_I = max(0.0, heater_I + d_heater_I)

attempted_heater_pow = heater_P + heater_I
self.log.info(f"Attempted Power: {attempted_heater_pow}, Heater_I: {heater_I}")
heater_pow = max(0.0, attempted_heater_pow)
if heater == 'still':
heater_frac = still_power_to_perc(heater_pow, still_heater_R, still_lead_R, max_voltage)
self.module.still_heater.set_heater_output(heater_frac)
Expand Down