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115 lines
3.2 KiB
115 lines
3.2 KiB
using AutomaticController;
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using CommunityToolkit.Mvvm.ComponentModel;
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using CommunityToolkit.Mvvm.Input;
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using LiveCharts;
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using LiveCharts.Wpf;
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using Simulator.Models;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Linq;
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using System.Runtime.Intrinsics.X86;
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using System.Text;
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using System.Threading.Tasks;
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namespace Simulator.ViewModels
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{
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internal partial class MovingSetpointPIDViewModel : ObservableObject
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{
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[ObservableProperty]
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private MovingPIDSetpointModel _setpointModel;
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[ObservableProperty]
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private ObservableCollection<double> _processHistory;
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[ObservableProperty]
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private ObservableCollection<double> _setpointHistory;
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[ObservableProperty]
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private SeriesCollection _series;
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[ObservableProperty]
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private double _kp;
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[ObservableProperty]
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private double _ki;
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[ObservableProperty]
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private double _kd;
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private readonly int SIMULATION_COUNT = 200;
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public MovingSetpointPIDViewModel()
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{
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Kp = 0.5;
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Ki = 0.1;
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Kd = 0.2;
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SetpointModel = new MovingPIDSetpointModel()
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{
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Controller = new PIDController(Kp, Kd, Ki),
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Setpoints = new List<double>()
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};
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// Generate setpoints
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for (int i = 0; i < SIMULATION_COUNT; i++)
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{
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double cos = Math.Cos(0.5 / (2 * Math.PI) * i);
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SetpointModel.Setpoints.Add(cos);
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}
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ProcessHistory = new ObservableCollection<double>();
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SetpointHistory = new ObservableCollection<double>();
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Series = new SeriesCollection()
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{
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new LineSeries()
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{
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Title = "Actual",
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Values = new ChartValues<double>(),
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PointGeometrySize = 5
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},
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new LineSeries()
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{
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Title = "Setpoint",
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Values = new ChartValues<double>(),
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PointGeometrySize = 5
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},
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};
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#if DEBUG
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Simulate();
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#endif
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}
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[RelayCommand]
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public void Simulate()
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{
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SetpointModel.Controller.Kp = Kp;
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SetpointModel.Controller.Ki = Ki;
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SetpointModel.Controller.Kd = Kd;
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ProcessHistory.Clear();
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SetpointHistory.Clear();
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Series[0].Values.Clear();
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Series[1].Values.Clear();
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InsertData(SetpointModel.Setpoints[0], 0d);
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for (int i = 1; i < SIMULATION_COUNT; i++)
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{
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double current = ProcessHistory.LastOrDefault();
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double output = SetpointModel.Controller.Compute(SetpointModel.Setpoints[i], current);
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double actual = current + output;
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InsertData(SetpointModel.Setpoints[i], actual);
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}
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}
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private void InsertData(double setpoint, double actual)
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{
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Series[1].Values.Add(setpoint);
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Series[0].Values.Add(actual);
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SetpointHistory.Add(setpoint);
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ProcessHistory.Add(actual);
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}
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}
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}
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