TCLab

Introduction

This site relates to TCLab kit, developed by John Hedengreen​

http://apmonitor.com/pdc/index.php/Main/ArduinoTemperatureControl

Other code from author's web page

https://apmonitor.com/heat.htm

MSc

Main results come from a MSc dissertation at FEUP, by Bruno Aguiar

• https://hdl.handle.net/10216/132773 (Full text PDF available!)

Videos

By Paulo Moura Oliveira:

PT: https://www.youtube.com/playlist?list=PLHlMBjz_1_oR5FsAfavUbH3Cdodcq6Mwj

EN: https://www.youtube.com/playlist?list=PLHlMBjz_1_oRBGOninzuhftv4aCrMP1zp

Code

Code from MSc Bruno Aguiar, supervised by Paulo Moura Oliveira and Armando Sousa:

%--------------------------------------

% Program by Paulo Moura Oliveira and Bruno Aguiar

% PID control with TCLab

% Jul-2020

%-------------------------------------

disp('Test Heater 1')

disp('LED Indicates Temperature')

figure(1)

T1s = []; % Stores temperature 1 values

T2s = []; % Stores temperature 2 values

Q1s = []; % Stores heater 1 values

Q2s = []; % Stores heater 2 values

SP_T1s = [] % Stores set-point 1 values

% initial heater values

Q1 = 0;

Q2 = 0;

h1(Q1);

h2(Q2);

K = 0.877; %PSO

L = 18.49;

T = 155.9;

Kp = 7.21;

Ti = 90;

Td = 6.06;

fflush (stdout);

Decision = input('Choose your control method: ','s');

% PMO- For storing the elapsed time in each sample

t_plot=[];

sim_time_s=[];

real_time=0;

real_time_s= [];

Decision1 = input('Do you want to configure steps and running time?: ','s');

switch (Decision1)

case {"Y" "y" "yes" "YES" "Yes"}

ns=input('Choose test duration: ');

STP1 =input('Choose when the first step will occur: ');

STPM1=input('Choose the amplitude of the first step: ');

STP2 =input('Choose when the second step will occur: ');

STPM2=input('Choose the amplitude of the second step: ');

STP3 =input('Choose when the third step will occur: ');

STPM3=input('Choose the amplitude of the third step: ');

SP_T1(STP1:STP2-1) = STPM1; % Set-point step 1

SP_T1(STP2:ns) = STPM2; % Set-point step 2

SP_T1(STP3:ns) = STPM3; % Set-point step 3

case {"N" "n" "no" "NO" "No"}

ns=300; % 620 samples for simulation time

SP_T1(1:99) = 60.0; % Set-point step 1

SP_T1(100:ns) = 60.0; % Set-point step 2

%SP_T1(300:ns) = 23.0; % Set-point step 3

otherwise

error("invalid input, try again");

endswitch

Pk=[]; % Proportional Action

Dk=[]; % Derivative Action

Ik=[]; % Integral Action

zk_1 = 0;

Tf=5;

Dk_1=0; % Previous Derivative Action

T1_1=0; % Previous Temperature T1

SP_T1_1 = 0;

ek_1 = 0;

ek_2 = 0;

uk_1 = 0;

d_uk = 0;

T = 1;

T1_1 =1;

for i = 1:ns

tic;

% read temperatures

T1 = T1C(); % Temperature 1

T2 = T2C(); % Temperature 2

function y = f (ek)

y = ek;

endfunction

switch(Decision)

case {"ONOFF" "ON-OFF" "ON OFF" "OnOff" "On-Off" "On Off" "onoff" "on-off" "on off"}

disp('ONOFF')

if T1>SP_T1(i)

Q1 = 0;

else

Q1 = 100;

end

h1(Q1);

case {"ONOFF H" "ON-OFF H" "ON OFF H" "OnOff H" "On-Off H" "On Off H" "onoff H" "on-off H" "on off H""ONOFF h" "ON-OFF h" "ON OFF h" "OnOff h" "On-Off h" "On Off h" "onoff h" "on-off h" "on off h"}

disp('ONOFF H')

if T1-SP_T1(i)>0.5

Q1=0;

else

Q1=Q1;

end

if SP_T1(i)-T1>1

Q1=100;

else

Q1=Q1;

end

h1(Q1);

case {"P" "p" "Proportional" "proportional" "PROPORCIONAL"}

ek = SP_T1(i)-T1; #Error calculation

Pk = Kp*ek; #Proportional contribution

Q1 = Pk; #Output calculation

if Q1>100 #Heater saturation

Q1=100;

end

if Q1<0

Q1=0;

end

h1(Q1); #Heater activation

case {"PI AW" "pi aw" "pI AW" "Pi aw" "Integrative AW" "integrative AW" "INTEGRATIVE AW"}

ek = SP_T1(i)-T1; #Error calculation

Pk = Kp*ek; #Proportional contribution

zk = zk_1+T*ek; #Error integer

Ik = (Kp/Ti)*zk; #Integrative contribution

Q1 = Pk+Ik; #Output calculation

if Q1>100 #Heater saturation

Q1=100;

zk = zk_1; #Error integer reset

end

if Q1<0

Q1=0;

zk = zk_1; #Error integer reset

end

h1(Q1); #Heater activation

zk_1=zk; #Previous error integer

case {"PI" "pi" "pI" "Pi" "Integrative" "integrative" "INTEGRATIVE"}

ek = SP_T1(i)-T1; #Error calculation

Pk = Kp*ek; #Proportional contribution

zk =zk_1+T*ek; #Error integer

Ik = (Kp/Ti)*zk; #Integrative contribution

Q1 = Pk+Ik; #Output calculation

if Q1>100 #Heater saturation

Q1=100;

end

if Q1<0

Q1=0;

end

h1(Q1); #Heater activation

zk_1=zk; #Previous error integer

case {"PD ADK" "pd adk" "pD DK" "Pd adk" "Derivative ADK" "derivative adk" "DERIVATIVE ADK"}

ek = SP_T1(i)-T1; #Error calculation

Pk = Kp*ek; #Proportional contribution

dyk = (T1-T1_1)/T; #Output error derivative

Dk = Kp*Td*dyk; #Derivative contribution

%Dk=(Tf/(Tf+T))*Dk_1 + (T/(Tf+T))*Dk; #Filter

Q1 = Pk-Dk; #Output calculation

if Q1>100 #Heater saturation

Q1=100;

end

if Q1<0

Q1=0;

end

h1(Q1); #Heater activation

T1_1=T1; #Previous sample temperature reading

%Dk_1=Dk; #Previous sample derivative contribution

case {"PD" "pd" "pD" "Pd" "Derivative" "derivative" "DERIVATIVE"}

ek = SP_T1(i)-T1; #Error calculation

Pk = Kp*ek; #Proportional contribution

dek =(ek-ek_1)/T; #Error derivative

Dk = Kp*Td*dek; #Derivative contribution

%Dk=(Tf/(Tf+T))*Dk_1 + (T/(Tf+T))*Dk; #Filter

Q1 = Pk+Dk; #Output calculation

if Q1>100 #Heater saturation

Q1=100;

end

if Q1<0

Q1=0;

end

h1(Q1); #Heater activation

ek_1 = ek; #Previous sample error

%Dk_1=Dk; #Previous sample derivative contribution

case {"PID" "pid" "pID" "PiD" "PId" "pId" "piD" "Pid" "Proportional Integrative and Derivative" "proportional integrative and derivative" "PROPORCIONAL INTEGRATIVE AND DERIVATIVE"}

ek = SP_T1(i)-T1; #Error calculation

Pk = (Kp)*ek; #Proportional contribution

zk = zk_1+T*ek; #Error integer

Ik = (Kp/Ti)*zk; #Integrative contribution

dyk = (T1-T1_1)/T; #Error derivative

Dk = (Kp)*Td*dyk; #Derivative contribution

Dk=(Tf/(Tf+T))*Dk_1 + (T/(Tf+T))*Dk; #Filter

Q1 = Pk+Ik-Dk; #Output calculation

if Q1>100 #Heater saturation

Q1=100;

zk = zk_1; #Error integer reset

end

if Q1<0

Q1=0;

zk = zk_1; #Error integer reset

end

if i>=400 #Load disturbance

Q1=Q1-40;

end

h1(Q1); #Heater activation

ek_1=ek; #Previous sample error

zk_1=zk; #Previous error integer

T1_1=T1; #Previous sample temperature reading

Dk_1=Dk; #Previous sample derivative contribution

otherwise

error("invalid input, try again");

endswitch

% LED brightness

% brightness1 = (t1 - 30)/50.0; % <30degC off, >100degC full brightness

% brightness2 = (t2 - 30)/50.0; % <30degC off, >100degC full brightness

% brightness = max(brightness1,brightness2);

% brightness = max(0,min(1,brightness)); % limit 0-1

% led(brightness);

% plot heater and temperature data

Q1s = [Q1s,Q1];

T1s = [T1s,T1];

% Set-point 1

SP_T1s = [SP_T1s,SP_T1(i)];

n = length(T1s);

time = linspace(0,n+1,n);

time_up=time(n);

clf

subplot(2,1,1)

plot(time,SP_T1s,'b--','LineWidth',1);

hold on

plot(time,T1s,'r-','LineWidth',1);

ylabel('Temperature (degC)')

legend('Set-point T1','Temperature 1','Location','SouthEast')

axis([0 time_up 0 70])

subplot(2,1,2)

plot(time,Q1s,'r.','MarkerSize',8);

plot(time,Q1s,'r-','LineWidth',1);

hold on

ylabel('Heater (0-100%)')

xlabel('Time (sec)')

legend('Heater 1','Location','SouthEast')

axis([0 time_up -5 105])

drawnow;

t = toc;

t_plot(i)=t;

real_time=real_time+t;

real_time_s(i)=real_time;

sim_time_s(i)=i;

pause(max(0.01,1.0-t))

end

disp('Turn off heaters')

h1(0);

h2(0);

% PMO

figure

plot(time,t_plot,'bo')

ylabel('Elapsed time in each sample')

xlabel('Time (sec)')

disp('Heater Test Complete')

% save txt file with data

%data = [sim_time_s',Q1s',Q2s',T1s',T2s',SP_T1s'];

%csvwrite('P_test_1.txt',data);