97 lines
3.7 KiB
Python
97 lines
3.7 KiB
Python
from util import pos, clamp, soc_scaler
|
|
import parameters
|
|
from time import time, sleep
|
|
import zmq
|
|
import logging
|
|
import syslab
|
|
logging.basicConfig(level=logging.INFO)
|
|
|
|
# Controller Parameters
|
|
Kp = ... # P factor for our controller.
|
|
Ki = ... # I factor for our controller.
|
|
|
|
### Variables
|
|
# Target that we are trying to reach at the grid connection.
|
|
pcc_target = 0.0
|
|
|
|
# Controller variables
|
|
x_battery = 1 # Default splitting factor
|
|
|
|
# Info on battery state
|
|
battery_setpoint = 0.0 # Default setpoint
|
|
battery_soc = 0.5 # Default SOC (= state of charge)
|
|
|
|
### Communication
|
|
# Make a context that we use to set up sockets
|
|
context = zmq.Context()
|
|
|
|
# Set up a socket we can use to publish our soc on
|
|
soc_out_socket = context.socket(zmq.PUB)
|
|
soc_out_socket.bind(f"tcp://*:{parameters.BATTERY_SOC_PORT}")
|
|
|
|
# Set up a socket to subscribe to our splitting factor
|
|
splitting_in_socket = context.socket(zmq.SUB)
|
|
splitting_in_socket.connect(f"tcp://{parameters.SUPERVISOR_IP}:{parameters.SUPERVISOR_PORT}")
|
|
|
|
# Ensure we only see message on the battery's splitting factor
|
|
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)
|
|
|
|
### 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
|
|
|
|
pid = PIDController(Kp=Kp, Ki=Ki, Kd=0.0,
|
|
u_min=parameters.MIN_BATTERY_P,
|
|
u_max=parameters.MAX_BATTERY_P,
|
|
Iterm=0.0)
|
|
|
|
|
|
# Put everything in a "try" block so clean-up is easy
|
|
try:
|
|
while True:
|
|
try:
|
|
# Try to connect to the supervisor.
|
|
# If we have a connection to the supervisor, get our requested splitting factor.
|
|
# If none have come in, continue with previous splitting factor.
|
|
# We put this in a while-loop to ensure we empty the queue each time,
|
|
# so we always have the latest value.
|
|
while True:
|
|
# Receive the latest splitting factor
|
|
incoming_str = splitting_in_socket.recv_string(flags=zmq.NOBLOCK)
|
|
# The incoming string will look like "batt_split;0.781",
|
|
# so we split it up and take the last bit forward.
|
|
x_battery = float(incoming_str.split(" ")[-1])
|
|
logging.info(f"New splitting factor: {x_battery}")
|
|
except zmq.Again as e:
|
|
# No (more) new messages, move along
|
|
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
|
|
# Check our own state of charge
|
|
battery_soc = 0.68 # 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)
|
|
|
|
# Ensure we don't exceed our bounds for the battery
|
|
battery_setpoint = clamp(parameters.MIN_BATTERY_P, battery_setpoint, parameters.MAX_BATTERY_P)
|
|
|
|
# Send the new setpoint to the battery
|
|
# TODO step 1.2: Send the new setpoint to the battery
|
|
logging.info(f"Sent setpoint: {battery_setpoint}")
|
|
|
|
# Publish our current state of charge for the supervisory controller to see
|
|
soc_out_socket.send_string(f"{parameters.TOPIC_BATTERY_SOC} {battery_soc:.06f}")
|
|
|
|
# Loop once more in a second
|
|
sleep(1)
|
|
finally:
|
|
# Clean up by closing our sockets.
|
|
# TODO step 1.2: Set the setpoint of the battery to zero after use
|
|
splitting_in_socket.close()
|
|
soc_out_socket.close()
|