Created
July 16, 2020 11:01
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diff --git a/vent/controller/control_module.py b/vent/controller/control_module.py | |
index 3a7b724..ff819f3 100644 | |
--- a/vent/controller/control_module.py | |
+++ b/vent/controller/control_module.py | |
@@ -610,17 +610,18 @@ class ControlModuleBase: | |
self._DATA_VOLUME += dt * self._DATA_Qout # Integrate what has happened within the last few seconds from flow out | |
self._DATA_PRESSURE = np.mean(self._DATA_PRESSURE_LIST) | |
+ self.__control_signal_in = self._adaptivecontroller.feed(self._DATA_PRESSURE, now) | |
+ | |
if cycle_phase < self.__SET_I_PHASE: | |
- self.__control_signal_in = self._adaptivecontroller.feed(self._DATA_PRESSURE, now) | |
self.__control_signal_out = 0 # close out valve | |
elif cycle_phase < self.__SET_PEEP_TIME + self.__SET_I_PHASE: # then, we drop pressure to PEEP | |
- self.__control_signal_in = 0 | |
+ # self.__control_signal_in = 0 | |
self.__control_signal_out = 1 | |
elif cycle_phase < self.__SET_CYCLE_DURATION: | |
self.__control_signal_out = 1 | |
- self.__control_signal_in = 5* (1 - np.exp( 5*((self.__SET_PEEP_TIME + self.__SET_I_PHASE) - cycle_phase )) ) | |
+ # self.__control_signal_in = 5* (1 - np.exp( 5*((self.__SET_PEEP_TIME + self.__SET_I_PHASE) - cycle_phase )) ) | |
else: | |
self._cycle_start = time.time() # New cycle starts | |
@@ -1127,7 +1128,7 @@ class PredictivePID: | |
return np.array([p(len(past) + i) for i in range(steps)]) | |
def feed(self, state, t): | |
- # Ingests current error, updates controller states, outputs K_I control | |
+ # Ingests current error, updates controller states, outputs PredictivePID control | |
self.errs[0] = self.waveform.at(t) - state | |
self.errs = np.roll(self.errs, -1) | |
self.bias += np.sign(np.average(self.errs)) * self.bias_lr | |
@@ -1139,7 +1140,7 @@ class PredictivePID: | |
hallucinated_states = self.hallucinate(self.state_buffer, self.hallucination_length) | |
hallucinated_errors = [self.waveform.at(t + (j + 1) * self.dt) - hallucinated_states[j] for j in range(self.hallucination_length)] | |
- if t < 0.1 or t > 9.9: | |
+ if t < 0.1: | |
u = np.sum(self.errs) + self.bias | |
else: | |
new_av = (np.sum(self.errs) + np.sum(hallucinated_errors)) * (self.storage / (self.storage + len(hallucinated_errors))) | |
@@ -1149,7 +1150,11 @@ class PredictivePID: | |
class BreathWaveform: | |
def __init__(self, range, keypoints): | |
self.lo, self.hi = range | |
- self.xp = [0] + keypoints | |
+ | |
+ self.xp = [0] | |
+ for keypoint in keypoints: | |
+ self.xp.append(self.xp[-1] + keypoint) | |
+ | |
self.fp = [self.lo, self.hi, self.hi, self.lo, self.lo] | |
def at(self, t): |
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