void TestFactory2()
{
//构造进料回路
FeedController fc = ControllerFactory.Create <FeedController>(10);
List <PIDConstant> pidcs = new List <PIDConstant>();
PIDConstant pidcIn = new PIDConstant(120, 200, 30, PIDControlAlgorithm.IPD);
PIDConstant pidcOut = new PIDConstant(300, 30, 0, PIDControlAlgorithm.PID);
pidcs.Add(pidcIn);
pidcs.Add(pidcOut);
double interval = 1;
DynamicObject dynObj = new DynamicObject(20, 5, 3, 0.01, FetchType.Max);
for (int i = 0; i < dynObj.Cycle; i++)
{
dynObj.UpdateDynamic(10 + r.NextDouble() * 2);
}
fc.GetInstance(pidcs, dynObj, interval, 100);
//添加项
for (int i = 0; i < 12; i++)
{
fc.UpdateDynamic(10 + r.NextDouble() * 2);
FeedModel fm = new FeedModel(fc.DynamicList, 50, 52 + r.NextDouble(), 51, 0, 100, 1);
fc.AddModel(fm);
}
}
public FurnaceCollection(PIDConstant pidcIn, PIDConstant pidcOut, FurnaceManage manage, double interval = 1)
{
this.Interval = interval;
this.InPIDConstants = pidcIn;
this.OutPIDConstants = pidcOut;
this.FurnaceManage = manage;
}
public CascadePIDCollection(PIDConstant pidcIn, PIDConstant pidcOut, int k, double interval)
{
this.K = k;
this.Interval = interval;
this.InPIDConstants = pidcIn;
this.OutPIDConstants = pidcOut;
}
void TestFactory()
{
//构造单回路
SingleController sc = ControllerFactory.Create <SingleController>(5);
List <PIDConstant> pidcs = new List <PIDConstant>();
pidcs.Add(new PIDConstant(1, 1, 1, PIDControlAlgorithm.IPD));
sc.GetInstance(pidcs, 1);
PIDModel m1 = new PIDModel(50, 49);
PIDModel m2 = new PIDModel(50, 49.5);
PIDModel m3 = new PIDModel(50, 50.5);
PIDModel m4 = new PIDModel(50, 50.8);
sc.AddModel(m1);
sc.AddModel(m2);
sc.AddModel(m3);
sc.AddModel(m4);
//构造串级
CascadeController cc = ControllerFactory.Create <CascadeController>(5);
List <PIDConstant> pidcs2 = new List <PIDConstant>();
PIDConstant pidcIn = new PIDConstant(120, 200, 30, PIDControlAlgorithm.IPD);
PIDConstant pidcOut = new PIDConstant(300, 30, 0, PIDControlAlgorithm.PID);
pidcs2.Add(pidcIn);
pidcs2.Add(pidcOut);
cc.GetInstance(pidcs2, 1);
CascadePIDModel cm1 = new CascadePIDModel(50, 52, 2000, 1950);
cc.AddModel(cm1);
//构造复杂串级
MultiCascadeController mcc = ControllerFactory.Create <MultiCascadeController>(5);
List <PIDConstant> pidcs3 = new List <PIDConstant>();
PIDConstant pidcIn2 = new PIDConstant(120, 200, 30, PIDControlAlgorithm.IPD);
PIDConstant pidcOut2 = new PIDConstant(300, 30, 0, PIDControlAlgorithm.PID);
PIDConstant pidcAu1 = new PIDConstant(100, 150, 20, PIDControlAlgorithm.IPD);//附加PID
PIDConstant pidcAu2 = new PIDConstant(100, 150, 20, PIDControlAlgorithm.IPD);
pidcs3.Add(pidcIn2);
pidcs3.Add(pidcOut2);
pidcs3.Add(pidcAu1);
pidcs3.Add(pidcAu2);
mcc.GetInstance(pidcs3, 1);
MultiCascadeModel mcm1 = new MultiCascadeModel(50, 52, 2000, 1950, 1);
PIDModel aum1 = new PIDModel(20, 19, 1);//附加回路模型
PIDModel aum2 = new PIDModel(20, 19.8, 1);
mcm1.AddAuxiliaryModel(aum1);
mcm1.AddAuxiliaryModel(aum2);
mcc.AddModel(mcm1);
}
public MultiCascadePIDCollection(PIDConstant pidcIn, PIDConstant pidcOut, List <PIDConstant> pidcAuxs, double interval = 1)
{
this.cAcs = new List <PIDCollection>();
this.Interval = interval;
this.InPIDConstants = pidcIn;
this.OutPIDConstants = pidcOut;
this.AuxiliaryConstants = pidcAuxs;
}
public PIDCollection(PIDConstant pidc, double interval = 1)
{
this.Interval = interval;
this.PIDConstants = pidc;
if (pidc != null)
{
this.UpdatePIDFunc = pidc.GetPID;
}
}
public void RemoveAuxiliaryConstant(PIDConstant constant)
{
if (this.AuxiliaryConstants != null)
{
this.AuxiliaryConstants.Remove(constant);
}
if (this.MultiCascadeCollection != null && this.MultiCascadeCollection.AuxiliaryConstants != null)
{
this.MultiCascadeCollection.AuxiliaryConstants.Remove(constant);
}
}
public RadioCollection(PIDConstant pidc, int updateFreq, int writeTimes, FetchType fetchType, double diff, double interval = 1)
{
this.Interval = interval;
this.UpdateFrequency = updateFreq;
this.WriteTimes = writeTimes;
this.FetchType = fetchType;
this.Difference = diff;
this.PIDConstants = pidc;
this.StrategyEnable = false;
this.StrategyPeriod = StrategyPeriod.Rest;
}
public void RemoveAuxiliaryConstant(PIDConstant constant)
{
if (this.AuxiliaryConstants != null)
{
this.AuxiliaryConstants.Remove(constant);
}
if (this.ComplexRadioCollection != null && this.ComplexRadioCollection.AuxiliaryConstants != null)
{
this.ComplexRadioCollection.AuxiliaryConstants.Remove(constant);
}
}
void TestCascade()
{
PIDConstant pidcIn = new PIDConstant(120, 200, 30, PIDControlAlgorithm.IPD);
PIDConstant pidcOut = new PIDConstant(300, 30, 0, PIDControlAlgorithm.PID);
CascadePIDCollection cc = new CascadePIDCollection(pidcIn, pidcOut, 1);
cc.Maximum = 100;
CascadePIDModel m1 = new CascadePIDModel(50, 52, 2000, 1950);
cc.Add(m1);
}
private void Standardize(int k)
{
this.K = k;
MultiCascadeModel item = this[K];
//输入部分
cIn = this.InitCollection(this.cIn, item, this.InPIDConstants, this.Maximum, ControllerType.MultiCascade, PIDAction.Input);
PIDModel inItem = cIn.Last();
item.InP = inItem.P;
item.InI = inItem.I;
item.InD = inItem.D;
item.InDD = inItem.DD;
item.InDPV = inItem.DPV;
item.InDDPV = inItem.DDPV;
item.InVariation = inItem.Variation;
//附加部分
if (this.AuxiliaryConstants != null)
{
for (int i = 0; i < this.AuxiliaryConstants.Count; i++)
{
PIDConstant ct = this.AuxiliaryConstants[i];
PIDCollection ac = this.cAcs[i];
PIDModel cam = item.AuxiliaryModels[i];//取附加PID模型
ac = this.InitCollection(ac, cam, ct, this.Maximum, ControllerType.Single, PIDAction.None);
cam = ac.Last();
item.AuxiliaryModels[i] = cam;
this.cAcs[i] = ac;
}
}
//输出部分
cOut = this.InitCollection(this.cOut, item, this.OutPIDConstants, this.Maximum, ControllerType.MultiCascade, PIDAction.Output);
PIDModel outItem = cOut.Last();
item.P = outItem.P;
item.I = outItem.I;
item.D = outItem.D;
item.DD = outItem.DD;
item.OutDPV = outItem.DPV;
item.OutDDPV = outItem.DDPV;
item.Variation = outItem.Variation;
this.OutCumulativeErr = cOut.CumulativeErr;
this.InPIDConstants = cIn.PIDConstants;
this.OutPIDConstants = cOut.PIDConstants;
this[K] = item;
}
public FeedCollection(PIDConstant pidcIn, PIDConstant pidcOut, int updateFreq, int writeTimes, FetchType fetchType, double diff, double interval = 1, double cumulativeErrRange = 0)
{
this.Interval = interval;
this.UpdateFrequency = updateFreq;
this.WriteTimes = writeTimes;
this.FetchType = fetchType;
this.Difference = diff;
this.InPIDConstants = pidcIn;
this.OutPIDConstants = pidcOut;
this.StrategyEnable = false;
this.StrategyPeriod = StrategyPeriod.Rest;
this.CumulativeErrRange = cumulativeErrRange;
}
void TestFactory3()
{
//构造间隔回路
SwitchController sc = ControllerFactory.Create <SwitchController>();
sc.GetInstance(3);
SwitchModel sm1 = new SwitchModel(50, 40, 10, 2);
SwitchModel sm2 = new SwitchModel(50, 45, 10, 2);
SwitchModel sm3 = new SwitchModel(50, 52, 10, 2);
SwitchModel sm4 = new SwitchModel(50, 61, 10, 2);
SwitchModel sm5 = new SwitchModel(50, 56, 10, 2);
sc.AddModel(sm1);
sc.AddModel(sm2);
sc.AddModel(sm3);
sc.AddModel(sm4);
sc.AddModel(sm5);
//构造加热炉回路
FurnaceController fc = ControllerFactory.Create <FurnaceController>(100);
List <PIDConstant> pidcs2 = new List <PIDConstant>();
PIDConstant pidcIn = new PIDConstant(120, 200, 30, PIDControlAlgorithm.IPD);
PIDConstant pidcOut = new PIDConstant(300, 30, 0, PIDControlAlgorithm.PID);
pidcs2.Add(pidcIn);
pidcs2.Add(pidcOut);
FurnaceManage manage = new FurnaceManage(20, 5);
fc.GetInstance(pidcs2, manage, 1);
FurnaceModel fm1 = new FurnaceModel(50, 51, 52, 53, 1);
FurnaceModel fm2 = new FurnaceModel(50, 52, 52, 55, 1);
FurnaceModel fm3 = new FurnaceModel(50, 50.5, 52, 54, 1);
FurnaceModel fm4 = new FurnaceModel(50, 50, 52, 52, 1);
FurnaceModel fm5 = new FurnaceModel(50, 51.2, 52, 53, 1);
FurnaceModel fm6 = new FurnaceModel(50, 53, 52, 56, 1);
FurnaceModel fm7 = new FurnaceModel(50, 52.2, 52, 54, 1);
FurnaceModel fm8 = new FurnaceModel(50, 51.6, 52, 55, 1);
fc.AddModel(fm1);
fc.AddModel(fm2);
fc.AddModel(fm3);
fc.AddModel(fm4);
fc.AddModel(fm5);
fc.AddModel(fm6);
fc.AddModel(fm7);
fc.AddModel(fm8);
}
public PIDConstant GetPID(PIDConstant cst, PIDModel item)
{
if (cst != null && cst.ComputeParams != null)
{
var cps = cst.ComputeParams;
double tmpP = cps.P0 - cps.a * item.D * cps.b * item.DD;
double tmpI = cps.I0 - cps.m * item.Err * cps.n * item.DD;
double tmpD = cps.D0 + cps.k * Math.Abs(item.DD);
this.CP = Math.Min(cps.PMax, Math.Max(cps.PMin, tmpP));
this.TI = Math.Min(cps.IMax, Math.Max(cps.IMin, tmpI));
this.TD = Math.Min(cps.DMax, Math.Max(cps.DMin, tmpD));
}
return(this);
}
void TestSingle()
{
PIDConstant pidc = new PIDConstant(1, 1, 1);
PIDCollection c = new PIDCollection(pidc);
c.Maximum = 5;
c.E = i => c[i].Err;
PIDModel m1 = new PIDModel(50, 70);
PIDModel m2 = new PIDModel(50, 60);
PIDModel m3 = new PIDModel(50, 53);
PIDModel m4 = new PIDModel(50, 49);
PIDModel m5 = new PIDModel(50, 51);
PIDModel m6 = new PIDModel(50, 48);
PIDModel m7 = new PIDModel(50, 52);
PIDModel m8 = new PIDModel(50, 51);
PIDModel m9 = new PIDModel(50, 46);
PIDModel m10 = new PIDModel(50, 52);
PIDModel m11 = new PIDModel(50, 50.2);
PIDModel m12 = new PIDModel(50, 49);
PIDModel m13 = new PIDModel(50, 50.5);
PIDModel m14 = new PIDModel(50, 49.2);
c.Add(m1);
c.Add(m2);
c.Add(m3);
c.Add(m4);
c.Add(m5);
c.Add(m6);
c.Add(m7);
c.Add(m8);
c.Add(m9);
c.Add(m10);
c.Add(m11);
c.Add(m12);
c.Add(m13);
c.Add(m14);
//var v = from t in c
// select t.Variation;
//double s = v.Sum();
//c.Standardize();
}
public ComplexRadioCollection(PIDConstant pidcIn, PIDConstant pidcOut, List <PIDConstant> pidcAuxs, int updateFreq, int writeTimes, FetchType fetchType, double diff, List <double> cumulativeErrRanges, double interval = 1)
{
this.cAcs = new List <PIDCollection>();
this.Interval = interval;
this.UpdateFrequency = updateFreq;
this.WriteTimes = writeTimes;
this.FetchType = fetchType;
this.Difference = diff;
this.InPIDConstants = pidcIn;
this.OutPIDConstants = pidcOut;
this.StrategyEnable = false;
this.StrategyPeriod = StrategyPeriod.Rest;
this.InPIDConstants = pidcIn;
this.OutPIDConstants = pidcOut;
this.AuxiliaryConstants = pidcAuxs;
this.CumulativeErrRanges = cumulativeErrRanges;
}
public override void GetInstance(PIDConstant constant, SimpleDynamicObject dynObj, double baseInterval)
{
//if (dynObj != null)
//{
// //参数匹配检测
// if (dynObj.Interval != baseInterval)
// {
// string msg = InnerArgumentException.GenInfo(nameof(dynObj.Interval), dynObj, nameof(baseInterval), baseInterval);
// throw new InnerArgumentException(msg);
// }
//}
this.DynamicObject = dynObj;
if (constant != null && dynObj != null)
{
this.BaseInterval = baseInterval;
this.RadioConstant = constant;
this.RadioCollection = new RadioCollection(this.RadioConstant, dynObj.UpdateFrequency, dynObj.WriteTimes, dynObj.FetchType, dynObj.Difference, this.BaseInterval);
this.RadioCollection.Maximum = this.Maximun;
this.StrategySwitch = true;
}
}
public SplitRangingCollection(PIDConstant pidcIn, PIDConstant pidcOut, double interval = 1)
{
this.Interval = interval;
}
/// <summary>
/// 用于比例控制器
/// </summary>
/// <param name="constant">PID回路参数</param>
/// <param name="dynObj">基础动态修正对象</param>
/// <param name="baseInterval">执行间隔</param>
public virtual void GetInstance(PIDConstant constant, SimpleDynamicObject dynObj, double baseInterval)
{
}
private void Standardize(int k)
{
this.K = k;
ComplexRadioModel item = this[K];
//输入部分
cIn = this.InitCollection(cIn, item, this.InPIDConstants, this.Maximum, ControllerType.ComplexRadio, PIDAction.Input, this.CumulativeErrRanges[0]);
PIDModel inItem = cIn.Last();
item.InP = inItem.P;
item.InI = inItem.I;
item.InD = inItem.D;
item.InDD = inItem.DD;
item.InDPV = inItem.DPV;
item.InDDPV = inItem.DDPV;
item.InVariation = inItem.Variation;
this.InCumulativeErr = cIn.CumulativeErr;
//附加部分
if (this.AuxiliaryConstants != null)
{
for (int i = 0; i < this.AuxiliaryConstants.Count; i++)
{
PIDConstant ct = this.AuxiliaryConstants[i];
PIDCollection ac = this.cAcs[i];
PIDModel cam = item.AuxiliaryModels[i];//取附加PID模型
ac = this.InitCollection(ac, cam, ct, this.Maximum, ControllerType.Single, PIDAction.None, this.CumulativeErrRanges[i + 1]);
cam = ac.Last();
item.AuxiliaryModels[i] = cam;
this.cAcs[i] = ac;
}
}
double axVals = 0;//附加输入回路计算变化量
if (item.AuxiliaryModels != null && item.AuxiliaryModels.Count > 0)
{
axVals = item.AuxiliaryModels.Sum(m => m.Variation);
}
//开关启动
if (this.StrategySwitch)
{
bool pcheck = IsCheck(this.serialIndex, this.UpdateFrequency); //该轮是否进行检测
bool doStrategy = false;
//UpdateFrequency为1时,不启用策略
if (this.UpdateFrequency == 1)
{
doStrategy = false;
}
else if (this.StrategyPeriod == StrategyPeriod.Rest)
{
//当前为休息周期,且进行检测
if (pcheck)
{
this.InitStrategy();
//满足条件,启用策略
if (this.StrategyEnable)
{
this.StrategyPeriod = StrategyPeriod.Running;//转换状态为运行
doStrategy = true;
}
//不满足条件,不启用策略,且保持休息周期状态
else
{
doStrategy = false;
}
}
//当前为休息周期,且不进行检测
else
{
doStrategy = false;
}
}
else if (this.StrategyPeriod == StrategyPeriod.Running)
{
//当前为运行周期,且进行检测
if (pcheck)
{
//紧邻运行周期的下一周期进行休息
this.StrategyPeriod = StrategyPeriod.Rest;
this.StrategyObject = null;
doStrategy = false;
}
//当前为运行周期,且不进行检测
else
{
doStrategy = true;
}
}
//执行检测
if (pcheck)
{
//执行策略
if (doStrategy)
{
if (this.StrategyObject != null)
{
if (this.StrategyObject.Index < this.StrategyObject.ComputeCount)
{
item.OutSV = cIn.CumulativeVariation + axVals + (this.StrategyObject.BasicValue + this.StrategyObject.Diff * (this.StrategyObject.Index + 1) / this.StrategyObject.ComputeCount) * item.UniFactor;
}
this.StrategyObject.GoNext();
}
}
else
{
item.OutSV = cIn.CumulativeVariation + axVals + item.RPV * item.ScaleFactor * item.UniFactor;
}
}
//不执行检测
else
{
if (this.K > 0)
{
item.OutSV = this[K - 1].OutSV;
}
else
{
item.OutSV = 0;
}
}
}
//开关未启动
else
{
item.OutSV = cIn.CumulativeVariation + axVals + item.RPV * item.ScaleFactor * item.UniFactor;
}
//输出部分
cOut = this.InitCollection(cOut, item, this.OutPIDConstants, this.Maximum, ControllerType.ComplexRadio, PIDAction.Output);
PIDModel outItem = cOut.Last();
item.P = outItem.P;
item.I = outItem.I;
item.D = outItem.D;
item.DD = outItem.DD;
item.OutDPV = outItem.DPV;
item.OutDDPV = outItem.DDPV;
item.Variation = outItem.Variation;
this.OutCumulativeErr = cOut.CumulativeErr;
this.InPIDConstants = cIn.PIDConstants;
this.OutPIDConstants = cOut.PIDConstants;
this[K] = item;
}
public PIDCollection InitCollection(PIDCollection c, PIDModel item, PIDConstant pidc, int maximum, ControllerType ct = ControllerType.Single, PIDAction action = PIDAction.None, double cumulativeErrRange = 0)
{
if (c == null)
{
c = new PIDCollection(pidc, item.Interval);
}
else
{
c.PIDConstants = pidc;
c.Interval = item.Interval;
}
c.CumulativeErrRange = cumulativeErrRange;
c.Maximum = maximum;
c.E = i => c[i].Err;
switch (ct)
{
case ControllerType.Single:
PIDModel m = new PIDModel(item.SV, item.PV, item.Interval);
c.Add(m);
break;
case ControllerType.Cascade:
CascadePIDModel cm = item as CascadePIDModel;
PIDModel m2 = null;
if (action == PIDAction.Input)
{
m2 = new PIDModel(cm.InSV, cm.InPV, cm.Interval);
}
else if (action == PIDAction.Output)
{
m2 = new PIDModel(cm.OutSV, cm.OutPV, cm.Minimum, cm.Maximum, cm.Interval);
}
c.Add(m2);
break;
case ControllerType.MultiCascade:
MultiCascadeModel mcm = item as MultiCascadeModel;
PIDModel m3 = null;
if (action == PIDAction.Input)
{
m3 = new PIDModel(mcm.InSV, mcm.InPV, mcm.Interval);
}
else if (action == PIDAction.Output)
{
m3 = new PIDModel(mcm.OutSV, mcm.OutPV, mcm.Minimum, mcm.Maximum, mcm.Interval);
}
c.Add(m3);
break;
case ControllerType.Feed:
FeedModel fm = item as FeedModel;
PIDModel m4 = null;
if (action == PIDAction.Input)
{
m4 = new PIDModel(fm.InSV, fm.InPV, fm.Interval);
}
else if (action == PIDAction.Output)
{
m4 = new PIDModel(fm.OutSV + fm.CorrectionValue, fm.OutPV, fm.Minimum, fm.Maximum, fm.Interval);
}
c.Add(m4);
break;
case ControllerType.Radio:
RadioModel rm = item as RadioModel;
PIDModel m5 = new PIDModel(rm.SV + rm.CorrectionValue, rm.PV, rm.Interval);
c.Add(m5);
break;
case ControllerType.ComplexRadio:
ComplexRadioModel crm = item as ComplexRadioModel;
PIDModel m6 = null;
if (action == PIDAction.Input)
{
m6 = new PIDModel(crm.InSV, crm.InPV, crm.Interval);
}
else if (action == PIDAction.Output)
{
m6 = new PIDModel(crm.OutSV + crm.CorrectionValue, crm.OutPV, crm.Minimum, crm.Maximum, crm.Interval);
}
c.Add(m6);
break;
case ControllerType.Furnace:
FurnaceModel fum = item as FurnaceModel;
PIDModel m7 = null;
if (action == PIDAction.Input)
{
m7 = new PIDModel(fum.InSV, fum.InPV, fum.Interval);
}
else if (action == PIDAction.Output)
{
m7 = new PIDModel(fum.OutSV, fum.OutPV, fum.Minimum, fum.Maximum, fum.Interval);
}
c.Add(m7);
break;
}
return(c);
}
