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87 lines
3.6 KiB
Python
87 lines
3.6 KiB
Python
import unittest
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from cnc.pid import *
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from cnc.config import *
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class TestPid(unittest.TestCase):
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def setUp(self):
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self._environment_temp = 25
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# Coefficients below were chosen by an experimental way with a real
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# hardware: reprap heating bed and extruder.
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# See ../utils/heater_model_finder.py to find out this coefficients.
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self._bed_c = 0.0027 # bed cooling coefficient
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self._bed_h = 0.2522 # bed heating coefficient
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self._extruder_c = 0.0108 # extruder cooling coefficient
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self._extruder_h = 3.4070 # extruder heating coefficient
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def tearDown(self):
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pass
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def __simulate(self, target_temp, pid_c, environment_temp, cool, heat):
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# Simulate heating some hypothetical thing with heater(h is a heat
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# transfer coefficient, which becomes just a delta temperature each
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# second) from environment temperature to target_temp. Consider that
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# there is natural air cooling process with some heat transfer
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# coefficient c. Heating power is controlled by PID.
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pid = Pid(target_temp, pid_c, 0)
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temperature = environment_temp
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heater_power = 0
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fixed_at = None
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zeros_counter = 0
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total_counter = 0
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iter_pes_s = 2 # step is 0.5s
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j = 1
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for k in range(1, 20 * 60 * iter_pes_s + 1): # simulate for 20 minutes
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j = k / float(iter_pes_s)
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# natural cooling
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temperature -= ((temperature - environment_temp) * cool
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/ float(iter_pes_s))
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# heating
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temperature += heat * heater_power / float(iter_pes_s)
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heater_power = pid.update(temperature, j)
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if fixed_at is None:
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if pid.is_fixed():
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fixed_at = j
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else:
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self.assertLess(abs(temperature - target_temp),
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pid.FIX_ACCURACY * target_temp * 5.0,
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msg="PID failed to control temperature "
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"{}/{} {}".format(temperature, target_temp, j))
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if heater_power == 0.0:
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zeros_counter += 1
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total_counter += 1
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self.assertLess(abs(temperature - target_temp),
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pid.FIX_ACCURACY * target_temp,
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msg="PID failed to control temperature "
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"{}/{} {}".format(temperature, target_temp, j))
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self.assertLess(zeros_counter, total_counter * 0.05,
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msg="PID turns on/off, instead of fine control")
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self.assertLess(fixed_at, 900,
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msg="failed to heat in 15 minutes, final temperature "
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"{}/{}".format(temperature, target_temp))
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def test_simple(self):
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pid = Pid(50, EXTRUDER_PID, 0)
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self.assertEqual(0, pid.update(100, 1))
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self.assertEqual(1, pid.update(0, 2))
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pid = Pid(50, BED_PID, 0)
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self.assertEqual(0, pid.update(100, 1))
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self.assertEqual(1, pid.update(0, 2))
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def test_extruder(self):
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# check if extruder typical temperatures can be reached in simulation
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for target in range(150, 251, 10):
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self.__simulate(target, EXTRUDER_PID, self._environment_temp,
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self._extruder_c, self._extruder_h)
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def test_bed(self):
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# check if bed typical temperatures can be reached in simulation
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for target in range(50, 101, 10):
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self.__simulate(target, BED_PID, self._environment_temp,
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self._bed_c, self._bed_h)
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if __name__ == '__main__':
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unittest.main()
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