step 1.2

battery_local_control.py

@@ -1,4 +1,4 @@
-from util import pos, clamp, soc_scaler
+from util import pos, clamp, soc_scaler, cast_to_cm
 import parameters
 from time import time, sleep
 import zmq
@@ -7,8 +7,8 @@ import syslab
 logging.basicConfig(level=logging.INFO)
 
 # Controller Parameters
-Kp = ...  # P factor for our controller.
-Ki = ...  # I factor for our controller.
+Kp = 0.4  # P factor for our controller.
+Ki = 0.8  # I factor for our controller.
 
 ### Variables
 # Target that we are trying to reach at the grid connection.
@@ -38,10 +38,16 @@ splitting_in_socket.subscribe(parameters.TOPIC_BATTERY_SPLITTING)
 
 ### Unit connections
 # TODO step 1.2: Set up connection to control the battery and reconstruct the pcc (remember that vswitchboard is still not working)
+gaia = syslab.WindTurbine("vgaia1")
+dumpload = syslab.Dumpload("vload1")
+mobload1 = syslab.Dumpload("vmobload1")
+pv319 = syslab.Photovoltaics("vpv319")
+batt = syslab.Battery('vbatt1')
 
 ### Import your controller class
 # TODO step 1.2: Import the controller class from "simlab_controller_d5_batt.py" or copy/paste it here and pick reasonable controller parameters
 # Note: The controller is identical to Day 5 with the exception of incorporating the splitting factor
+from simlab_controller_d5_batt import PIDController
 
 pid = PIDController(Kp=Kp, Ki=Ki, Kd=0.0,
                     u_min=parameters.MIN_BATTERY_P,
@@ -70,9 +76,15 @@ try:
             pass
 
         # Poll the grid connection to get the current grid exchange.
-        pcc_p = 10.0  # TODO step 1.2: Reconstruct the pcc from unit measurements
+        pcc_p = cast_to_cm(-(
+                gaia.getActivePower().value 
+              + batt.getActivePower().value 
+              + pv319.getACActivePower().value
+              - dumpload.getActivePower().value 
+              - mobload1.getActivePower().value 
+        ))
         # Check our own state of charge
-        battery_soc = 0.68  # TODO step 1.2: Read the true battery SOC
+        battery_soc = batt.getSOC()  # TODO step 1.2: Read the true battery SOC
 
         # Calculate new requests using PID controller
         battery_setpoint = pid.update(pcc_p.value, x_batt=x_battery)
@@ -82,6 +94,7 @@ try:
 
         # Send the new setpoint to the battery
         # TODO step 1.2: Send the new setpoint to the battery
+        batt.setActivePower(battery_setpoint)
         logging.info(f"Sent setpoint: {battery_setpoint}")
 
         # Publish our current state of charge for the supervisory controller to see
@@ -92,5 +105,6 @@ try:
 finally:
     # Clean up by closing our sockets.
     # TODO step 1.2: Set the setpoint of the battery to zero after use
+    batt.setActivePower(0.)
     splitting_in_socket.close()
     soc_out_socket.close()

mobileload_local_control.py

@@ -1,4 +1,4 @@
-from util import pos, clamp
+from util import pos, clamp, cast_to_cm
 import parameters
 from time import time, sleep
 import zmq
@@ -9,8 +9,8 @@ import logging
 logging.basicConfig(level=logging.INFO)
 
 # # Parameters
-Kp = ...  # P factor for our controller.
-Ki = ...  # I factor for our controller.
+Kp = 0.4  # P factor for our controller.
+Ki = 0.8  # I factor for our controller.
 
 # # Variables
 # Target that we are trying to reach at the grid connection.
@@ -37,10 +37,16 @@ splitting_in_socket.subscribe(parameters.TOPIC_LOAD_SPLITTING)
 
 ### Unit connections
 # TODO step 1.2: Set up connection to control the battery and reconstruct the pcc (remember that vswitchboard is still not working)
+gaia = syslab.WindTurbine("vgaia1")
+dumpload = syslab.Dumpload("vload1")
+mobload1 = syslab.Dumpload("vmobload1")
+pv319 = syslab.Photovoltaics("vpv319")
+batt = syslab.Battery('vbatt1')
 
 ### Import your controller class
 # TODO step 1.2: Import the controller class from "simlab_controller_d5_load.py" or copy/paste it here and pick reasonable controller parameters
 # Note: The controller is identical to Day 5 with the exception of incorporating the splitting factor
+from simlab_controller_d5_load import PIDController
 
 pid = PIDController(Kp=Kp, Ki=Ki, Kd=0.0,
                     u_min=parameters.MIN_LOAD_P,
@@ -48,10 +54,6 @@ pid = PIDController(Kp=Kp, Ki=Ki, Kd=0.0,
                     Iterm=0.0)
 
 
-# # Unit connections
-# TODO step 2.2: Set up connection to control the battery/mobile load and reconstruct the pcc (remember that vswitchboard is still not working)
-
-
 # Ensure the mobile load is on before we start (The sleeps wait for the load to respond.)
 while not mobload1.isLoadOn().value:
     print("Starting load")
@@ -78,7 +80,13 @@ try:
             pass
 
         # Poll the grid connection to get the current grid exchange.
-        pcc_p = 10.0  # TODO step 1.2: Reconstruct the pcc from unit measurements
+        pcc_p = cast_to_cm(-(
+                gaia.getActivePower().value 
+              + batt.getActivePower().value 
+              + pv319.getACActivePower().value
+              - dumpload.getActivePower().value 
+              - mobload1.getActivePower().value 
+        ))
 
         # Calculate new requests using PID controller
         mobileload_setpoint = pid.update(pcc_p.value, x_load=x_load)
@@ -88,6 +96,7 @@ try:
 
         # Send the new setpoint to the load
         # TODO step 1.2: Send the new setpoint to the load
+        mobload1.setPowerSetPoint(mobileload_setpoint)
         logging.info(f"Sent setpoint: {mobileload_setpoint}")
 
         # Loop once more in a second
@@ -95,4 +104,6 @@ try:
 finally:
     # Clean up by closing our socket.
     # TODO step 1.2: Set the setpoint of the mobile load to zero and shut it down after use
+    mobload1.setPowerSetPoint(0.)
+    mobload1.stopLoad()
     splitting_in_socket.close()

simlab_controller_d5_batt.py

@@ -93,11 +93,11 @@ class PIDController:
 
     def _calculate_error(self, y_hat_2):
         # TODO step 1.2: calculate and return the error between reference and measurement
-        return 0.0
+        return self.r - y_hat_2
 
     def _calc_Pterm(self, error):
         # TODO step 1.2: calculate the proportional term based on the error and self.Kp
-        return 0.0
+        return error * self.Kp
 
     def _calc_Iterm(self, error, delta_time):
         # TODO step 1.2:  calculate the integral term based on error, last error and deltaT, and self.Ki

simlab_controller_d5_load.py

@@ -91,21 +91,18 @@ class PIDController:
         # optional code to filter the input / actuation signal
         return u_p
 
-    def _calculate_error(self, r, y_hat_2):
-        # calculate the error between reference and measurement
-        return r - y_hat_2
-
     def _calculate_error(self, y_hat_2):
         # TODO step 1.2: calculate and return the error between reference and measurement
-        return 0.0
+        return self.r - y_hat_2
 
     def _calc_Pterm(self, error):
         # TODO step 1.2: calculate the proportional term based on the error and self.Kp
-        return 0.0
+        return error * self.Kp
 
     def _calc_Iterm(self, error, delta_time):
         # TODO step 1.2:  calculate the integral term based on error, last error and deltaT, and self.Ki
         return 0.0
+
     def _calc_Dterm(self, error, delta_time):
         # calculate the proportional term based on error, last error and deltaT
         return self.Kd * 0.0