First Stable Test

marl0rd · Jun 24, 2014 · 7aff945 · 7aff945
1 parent 2a51fbc
commit 7aff945
Show file tree

Hide file tree

Showing 14 changed files with 122 additions and 64 deletions.
diff --git a/src/main/java/process/FirstOrderSystem.java → ...ain/java/continuous/FirstOrderSystem.java b/src/main/java/process/FirstOrderSystem.java → ...ain/java/continuous/FirstOrderSystem.java
@@ -1,4 +1,4 @@
-package process;
+package continuous;
 
 /**
  * Created by marlon on 6/16/14.

diff --git a/src/main/java/process/PIController.java → src/main/java/continuous/PIController.java b/src/main/java/process/PIController.java → src/main/java/continuous/PIController.java
@@ -1,4 +1,4 @@
-package process;
+package continuous;
 
 /**
  * Created by marlon on 6/19/14.

diff --git a/src/main/java/process/PITuning.java → src/main/java/continuous/PITuning.java b/src/main/java/process/PITuning.java → src/main/java/continuous/PITuning.java
@@ -1,4 +1,4 @@
-package process;
+package continuous;
 
 import javafx.beans.property.DoubleProperty;
 import javafx.beans.property.DoublePropertyBase;
@@ -61,9 +61,9 @@ public PITuning(PIController controller, FirstOrderSystem process) {
 
     // ********** Methods **********//
     private void recalculate() {
-        undampedNaturalFrequency.set(4/(dampingRatio.get() * settlingTime.get()));
-        controller.setProportionalGain(((2*dampingRatio.get()*undampedNaturalFrequency.get()) - (1/process.getTau())) / (process.getGain()/process.getTau()));
-        controller.setIntegralTime((2*dampingRatio.get()*undampedNaturalFrequency.get() - (1/process.getTau())) / (Math.pow(undampedNaturalFrequency.get(), 2)));
+        undampedNaturalFrequency.set(4.0/(dampingRatio.get() * settlingTime.get()));
+        controller.setProportionalGain(((2.0*dampingRatio.get()*undampedNaturalFrequency.get()) - (1.0/process.getTau())) / (process.getGain()/process.getTau()));
+        controller.setIntegralTime((2.0*dampingRatio.get()*undampedNaturalFrequency.get() - (1.0/process.getTau())) / (Math.pow(undampedNaturalFrequency.get(), 2.0)));
         controller.setIntegralGain(controller.getProportionalGain() / controller.getIntegralTime());
     }
 

diff --git a/src/main/java/gui/GuiController.java b/src/main/java/gui/GuiController.java
@@ -1,7 +1,11 @@
 package gui;
 
-import conicaltank.ConicalTankProcess;
-import javafx.application.Platform;
+import process.ConicalTankProcess;
+import continuous.FirstOrderSystem;
+import continuous.PIController;
+import continuous.PITuning;
+import javafx.beans.InvalidationListener;
+import javafx.beans.Observable;
 import javafx.fxml.FXML;
 import javafx.fxml.FXMLLoader;
 import javafx.scene.Scene;
@@ -13,7 +17,7 @@
 import javafx.scene.layout.AnchorPane;
 import javafx.stage.Stage;
 import javafx.stage.StageStyle;
-import process.*;
+import simulation.*;
 import util.Preferences;
 import java.io.IOException;
 import java.sql.Date;
@@ -31,9 +35,9 @@ public class GuiController extends AnchorPane {
 
     // ********** Fields **********//
     private ConicalTankProcess conicalTank;
-    private FirstOrderSystem   process;
-    private PIController       controller;
-    private PITuning           piTuning;
+    private FirstOrderSystem process;
+    private PIController controller;
+    private PITuning piTuning;
     private Loop               loop;
 
     @FXML private TextField                   heightSetPointTextField;
@@ -105,7 +109,7 @@ private void registerListeners() {
         preferencesMenuItem.setOnAction(value -> showPreferences());
 
         // Loop refresh
-        loop.timeStampProperty().addListener(value -> updateGui());
+        loop.timeStampProperty().addListener(updateGui);
     }
 
     private void showPreferences() {
@@ -122,11 +126,9 @@ private void showPreferences() {
         loop.setSamplingTime(Preferences.samplingTime);
         loop.setSimulationMode(Preferences.simulationMode);
         loop.setLoopType(Preferences.loopType);
-        recalculate();
     }
 
     private void startSimulation(){
-        recalculate();
         loop.start();
     }
 
@@ -136,39 +138,45 @@ private void stopSimulation(){
     }
 
     private void updateGui(){
-        Platform.runLater(() -> {
-            if(loop.getLoopStarted()){
-                // Update Loop visualization
-                outputTrendingSeries.getData().add(new XYChart.Data<>(TIME_FORMAT.format(Date.from(Instant.now())), loop.getOutput()));
-                while (outputTrendingSeries.getData().size() > TRENDING_DATA_LIMIT) {
-                    outputTrendingSeries.getData().remove(0);
-                }
-                consoleListView.getItems().add("I= " + loop.getInput() + ", \t O=" + loop.getOutput());
-                while(consoleListView.getItems().size() > CONSOLE_DATA_LIMIT) {
-                    consoleListView.getItems().remove(0);
-                }
+        if(loop.getLoopStarted()){
+            // Update Loop visualization
+            outputTrendingSeries.getData().add(new XYChart.Data<>(TIME_FORMAT.format(Date.from(Instant.now())), loop.getOutput()));
+            while (outputTrendingSeries.getData().size() > TRENDING_DATA_LIMIT) {
+                outputTrendingSeries.getData().remove(0);
             }
+            consoleListView.getItems().add("I= " + loop.getInput() + ", \t O=" + loop.getOutput());
+            while(consoleListView.getItems().size() > CONSOLE_DATA_LIMIT) {
+                consoleListView.getItems().remove(0);
+            }
+        }
 
-            samplingTimeLabel.setText(Double.toString(loop.getSamplingTime()));
-
-            // Update conicalTank visualization
-            heightOperationPointLabel.setText(String.valueOf(conicalTank.getHeightOperationPoint()));
-            inflowOperationPointLabel.setText(String.valueOf(conicalTank.getInflowOperationPoint()));
+        samplingTimeLabel.setText(Double.toString(loop.getSamplingTime()));
 
-            // Update Process visualization
-            tauLabel.setText(Double.toString(loop.getProcess().getTau()));
-            gainLabel.setText(Double.toString(loop.getProcess().getGain()));
-            inputLabel.setText(Double.toString(loop.getProcess().getInput()));
-            outputLabel.setText(Double.toString(loop.getProcess().getOutput()));
+        // Update conicalTank visualization
+        heightOperationPointLabel.setText(String.valueOf(conicalTank.getHeightOperationPoint()));
+        inflowOperationPointLabel.setText(String.valueOf(conicalTank.getInflowOperationPoint()));
 
-            // Update Controller visualization
-            kpLabel.setText(Double.toString(loop.getController().getProportionalGain()));
-            kiLabel.setText(Double.toString(loop.getController().getIntegralGain()));
-            integralTimeLabel.setText(Double.toString(loop.getController().getIntegralTime()));
-        });
+        // Update Process visualization
+        tauLabel.setText(Double.toString(loop.getProcess().getTau()));
+        gainLabel.setText(Double.toString(loop.getProcess().getGain()));
+        inputLabel.setText(Double.toString(loop.getProcess().getInput()));
+        outputLabel.setText(Double.toString(loop.getProcess().getOutput()));
 
+        // Update Controller visualization
+        kpLabel.setText(Double.toString(loop.getController().getProportionalGain()));
+        kiLabel.setText(Double.toString(loop.getController().getIntegralGain()));
+        integralTimeLabel.setText(Double.toString(loop.getController().getIntegralTime()));
     }
 
+    private InvalidationListener updateGui = new InvalidationListener() {
+        @Override
+        public void invalidated(Observable observable) {
+            updateGui();
+            loop.timeStampProperty().removeListener(this);
+            loop.timeStampProperty().addListener(this);
+        }
+    };
+
     private void recalculate() {
         linealizeInNewSetPoint();
         tuneController();

diff --git a/.../java/conicaltank/ConicalTankProcess.java → ...main/java/process/ConicalTankProcess.java b/.../java/conicaltank/ConicalTankProcess.java → ...main/java/process/ConicalTankProcess.java
@@ -1,8 +1,8 @@
-package conicaltank;
+package process;
 
 import javafx.beans.property.DoubleProperty;
 import javafx.beans.property.DoublePropertyBase;
-import process.FirstOrderSystem;
+import continuous.FirstOrderSystem;
 
 /**
  * Created by marlon on 6/18/14.
@@ -53,6 +53,7 @@ protected void invalidated() {
 
     // ********** Methods **********//
     private void recalculate(){
+
         double alpha = ((9/2) *
                 (OBSTRUCTION * Math.pow(HEIGHT,2) * Math.sqrt(2*GRAVITY) * Math.pow(heightOperationPoint.get(), -5/2)) /
                 (2 * Math.PI * Math.pow(RADIUS,2))) -

diff --git a/...ain/java/process/FirstOrderSimulator.java → .../java/simulation/FirstOrderSimulator.java b/...ain/java/process/FirstOrderSimulator.java → .../java/simulation/FirstOrderSimulator.java
@@ -1,19 +1,20 @@
-package process;
+package simulation;
 
+import continuous.FirstOrderSystem;
 import util.Preferences;
 
 /**
  * Created by marlon on 6/17/14.
  *
  *                      |   gain     |
- * process.input ------>| ---------  |-------> process.output
+ * simulation.input ------>| ---------  |-------> simulation.output
  *                      | tau*s + 1  |
  *
  */
 public class FirstOrderSimulator extends Thread{
     // ********** Fields **********//
     private final double[]             vz;
-    private FirstOrderSystem           process;
+    private FirstOrderSystem process;
     private boolean                    started;
     private double                     samplingTime;
     private Preferences.SimulationMode simulationMode;
@@ -33,17 +34,17 @@ public FirstOrderSimulator(FirstOrderSystem process) {
     public void run() {
         started = true;
         while(started){
-            vz[0] = process.getInput() - ((samplingTime- 2 * process.getTau()) / (samplingTime + 2 * process.getTau())) * vz[1];
+            vz[0] = process.getInput() - ((samplingTime- 2.0 * process.getTau()) / (samplingTime + 2.0 * process.getTau())) * vz[1];
             System.out.println("vcz[0]" + vz[0]);
-            process.setOutput(((process.getGain() * samplingTime) / (samplingTime + 2 * process.getTau())) * (vz[0] + vz[1]));
+            process.setOutput(((process.getGain() * samplingTime) / (samplingTime + 2.0 * process.getTau())) * (vz[0] + vz[1]));
             delay();
             vz[1] = vz[0];
             System.out.println("vcz[1]" + vz[1]);
         }
     }
 
     public void delay(){
-        // The samplingTime of process is based in second, the sleep method is based in milliseconds
+        // The samplingTime of simulation is based in second, the sleep method is based in milliseconds
         try {
             Thread.sleep((long) ((samplingTime * simulationMode.factor)* 1000));
         } catch (InterruptedException e) {

diff --git a/src/main/java/process/Loop.java → src/main/java/simulation/Loop.java b/src/main/java/process/Loop.java → src/main/java/simulation/Loop.java
@@ -1,5 +1,8 @@
-package process;
+package simulation;
 
+import continuous.FirstOrderSystem;
+import continuous.PIController;
+import javafx.application.Platform;
 import javafx.beans.property.*;
 import util.Preferences;
 
@@ -12,8 +15,8 @@ public class Loop extends Thread {
     private double                     input;
     private double                     output;
     private double                     error;
-    private FirstOrderSystem           process;
-    private PIController               controller;
+    private FirstOrderSystem process;
+    private PIController controller;
     private FirstOrderSimulator        processThread;
     private PISimulator                controllerThread;
     private LongProperty               timeStamp;
@@ -57,12 +60,12 @@ public void run() {
         while(loopStarted.get()){
             System.out.print("I=" + this.input + "\t");
 
-            error = getProcessThread().getProcess().getOutput() - input;
+            error = input - getProcessThread().getProcess().getOutput();
             if(loopType == Preferences.LoopType.CLOSE_LOOP){
-                processThread.getProcess().setInput(this.input);
-            } else {
                 controllerThread.getController().setInput(this.error);
                 processThread.getProcess().setInput(controllerThread.getController().getOutput());
+            } else {
+                processThread.getProcess().setInput(this.input);
             }
 
             System.out.print("C=" + processThread.getProcess().getOutput() + "\t");
@@ -73,19 +76,21 @@ public void run() {
     }
 
     public void delay(){
-        // The samplingTime of process is based in second, the sleep method is based in milliseconds
+        // The samplingTime of simulation is based in second, the sleep method is based in milliseconds
         try {
             Thread.sleep((long) ((samplingTime * simulationMode.factor)* 1000));
         } catch (InterruptedException e) {
             loopStarted.set(false);
             processThread.setStarted(false);
             controllerThread.setStarted(false);
         }
-        System.out.println(System.currentTimeMillis());
-        timeStamp.set(System.currentTimeMillis());
+        Platform.runLater(() -> {
+            setTimeStamp(System.currentTimeMillis());
+        });
     }
 
-    // ********** Setters and Getters **********//
+                // ********** Setters and Getters **********//
+
     public double getInput() {
         return input;
     }

diff --git a/src/main/java/process/PISimulator.java → src/main/java/simulation/PISimulator.java b/src/main/java/process/PISimulator.java → src/main/java/simulation/PISimulator.java
@@ -1,5 +1,6 @@
-package process;
+package simulation;
 
+import continuous.PIController;
 import util.Preferences;
 
 /**
@@ -8,7 +9,7 @@
 public class PISimulator extends Thread {
     // ********** Fields **********//
     private final double[]             vz;
-    private PIController               controller;
+    private PIController controller;
     private boolean                    started;
     private double                     samplingTime;
     private Preferences.SimulationMode simulationMode;
@@ -29,15 +30,15 @@ public void run() {
         started = true;
         while(started){
             vz[0] = controller.getInput() - vz[1];
-            controller.setOutput(((1/2) * (2*controller.getProportionalGain() + samplingTime*controller.getIntegralGain()) * vz[0]) +
-                    ((1/2) * (samplingTime*controller.getIntegralGain() - 2*controller.getProportionalGain()) * vz[1]));
+            controller.setOutput(((1.0 / 2.0) * (2.0 * controller.getProportionalGain() + samplingTime * controller.getIntegralGain()) * vz[0]) +
+                    ((1.0 / 2.0) * (samplingTime * controller.getIntegralGain() - 2.0 * controller.getProportionalGain()) * vz[1]));
             delay();
             vz[1] = vz[0];
         }
     }
 
     public void delay(){
-        // The samplingTime of process is based in second, the sleep method is based in milliseconds
+        // The samplingTime of simulation is based in second, the sleep method is based in milliseconds
         try {
             Thread.sleep((long) ((samplingTime * simulationMode.factor)* 1000));
         } catch (InterruptedException e) {

diff --git a/src/main/java/sources/Constant.java b/src/main/java/sources/Constant.java
@@ -0,0 +1,7 @@
+package sources;
+
+/**
+ * One constant value function
+ */
+public class Constant extends Thread {
+}
diff --git a/src/main/java/sources/PulseGenerator.java b/src/main/java/sources/PulseGenerator.java
@@ -0,0 +1,7 @@
+package sources;
+
+/**
+ * Function of Pulse
+ */
+public class PulseGenerator extends Thread {
+}
diff --git a/src/main/java/sources/Ramp.java b/src/main/java/sources/Ramp.java
@@ -0,0 +1,7 @@
+package sources;
+
+/**
+ * Ramp Function
+ */
+public class Ramp extends Thread {
+}
diff --git a/src/main/java/sources/Random.java b/src/main/java/sources/Random.java
@@ -0,0 +1,7 @@
+package sources;
+
+/**
+ * Function random
+ */
+public class Random extends Thread {
+}
diff --git a/src/main/java/sources/SineWave.java b/src/main/java/sources/SineWave.java
@@ -0,0 +1,7 @@
+package sources;
+
+/**
+ * Created by marlon on 6/24/14.
+ */
+public class SineWave extends Thread {
+}
diff --git a/src/main/java/sources/Step.java b/src/main/java/sources/Step.java
@@ -0,0 +1,7 @@
+package sources;
+
+/**
+ * Step Function
+ */
+public class Step extends Thread {
+}