agentlib.modules.controller package

Submodules

agentlib.modules.controller.bangbang module

class agentlib.modules.controller.bangbang.BangBang(*, config: dict, agent: Agent)[source]

Bases: SISOController

A bang–bang controller (2 step or on–off controller), also known as a hysteresis controller, that switches abruptly between two states.

do_step(inp_var: AgentVariable)[source]

Controller step function. Needs to be a generator function, thus using yield instead of return

property gain

Get the gain of the BangBang controller

property last_out_val

Last output value of the controller

loop_sim()[source]

Loop over the do_step function

pydantic model agentlib.modules.controller.bangbang.BangBangConfig[source]

Bases: SISOControllerConfig

Special config for a BangBang-Controller

Config:

  • arbitrary_types_allowed: bool = True

  • validate_assignment: bool = True

  • extra: str = forbid

  • frozen: bool = True

Fields:
Validators:
field gain: float = 1
field input: AgentVariable = AgentVariable(name='u', type='float', timestamp=None, unit='Not defined', description='Not defined', ub=inf, lb=-inf, clip=False, allowed_values=[], value=0, alias='u', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field lb: float = -inf
Validated by:
field log_level: str | None = None

The log level for this Module. Default uses the root-loggers level.Options: DEBUG; INFO; WARNING; ERROR; CRITICAL

Validated by:
field module_id: str [Required]

The unqiue id of the module within an agent, used only to communicate withing the agent.

field output: AgentVariable = AgentVariable(name='y', type='float', timestamp=None, unit='Not defined', description='Not defined', ub=inf, lb=-inf, clip=False, allowed_values=[], value=0, alias='y', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field reverse: bool = False
field shared_variable_fields: List[str] = []

A list of strings with each string being a field of the Modules configs. The field must be or contain an AgentVariable. If the field is added to this list, all shared attributes of the AgentVariables will be set to True.

Validated by:
field type: str | Dict[str, str] [Required]

The type of the Module. Used to find the Python-Object from all agentlib-core and plugin Module options. If a dict is given,it must contain the keys ‘file’ and ‘class_name’. ‘file’ is the filepath of a python file containing the Module.’class_name’ is the name of the Module class within this file.

field ub: float = inf
field validate_incoming_values: bool | None = True

If true, the validator of the AgentVariable value is called when receiving a new value from the DataBroker.

model_post_init(context: Any, /) → None

This function is meant to behave like a BaseModel method to initialise private attributes.

It takes context as an argument since that’s what pydantic-core passes when calling it.

Parameters:

  • self – The BaseModel instance.

  • context – The context.

agentlib.modules.controller.controller module

This modules defines re-use able controller modules, such as the standard Controller and the SISOController

class agentlib.modules.controller.controller.Controller(*, config: dict, agent: Agent)[source]

Bases: BaseModule

Base class for all controller tasks within an agent

abstract do_step(inp_var: AgentVariable)[source]

Controller step function. Needs to be a generator function, thus using yield instead of return

loop_sim()[source]

Loop over the do_step function

process()[source]

“Only called on run() to initialize the step.

property step: Generator

Return the generator for the do_step function

class agentlib.modules.controller.controller.SISOController(*, config: dict, agent: Agent)[source]

Bases: Controller

Base class for all controller having one single input and one single output

property lb

The lb value

register_callbacks()[source]

A SISO controller has only one input and only reacts to this input.

property reverse

The reverse value

property ub

The ub value

pydantic model agentlib.modules.controller.controller.SISOControllerConfig[source]

Bases: BaseModuleConfig

Check all inputs of a SISO-Contoller

Parameters used in all SISO Controllers. ub: Upper bound of controller output lb: Lower bound of controller output reverser: Change of sign.

Config:

  • arbitrary_types_allowed: bool = True

  • validate_assignment: bool = True

  • extra: str = forbid

  • frozen: bool = True

Fields:
Validators:
field input: AgentVariable = AgentVariable(name='u', type='float', timestamp=None, unit='Not defined', description='Not defined', ub=inf, lb=-inf, clip=False, allowed_values=[], value=0, alias='u', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field lb: float = -inf
Validated by:
field log_level: str | None = None

The log level for this Module. Default uses the root-loggers level.Options: DEBUG; INFO; WARNING; ERROR; CRITICAL

Validated by:
field module_id: str [Required]

The unqiue id of the module within an agent, used only to communicate withing the agent.

field output: AgentVariable = AgentVariable(name='y', type='float', timestamp=None, unit='Not defined', description='Not defined', ub=inf, lb=-inf, clip=False, allowed_values=[], value=0, alias='y', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field reverse: bool = False
field shared_variable_fields: List[str] = []

A list of strings with each string being a field of the Modules configs. The field must be or contain an AgentVariable. If the field is added to this list, all shared attributes of the AgentVariables will be set to True.

Validated by:
field type: str | Dict[str, str] [Required]

The type of the Module. Used to find the Python-Object from all agentlib-core and plugin Module options. If a dict is given,it must contain the keys ‘file’ and ‘class_name’. ‘file’ is the filepath of a python file containing the Module.’class_name’ is the name of the Module class within this file.

field ub: float = inf
field validate_incoming_values: bool | None = True

If true, the validator of the AgentVariable value is called when receiving a new value from the DataBroker.

validator check_bounds  »  lb[source]

Check if upper and lower bound values are correct

validator check_value_type  »  output, input[source]
model_post_init(context: Any, /) → None

This function is meant to behave like a BaseModel method to initialise private attributes.

It takes context as an argument since that’s what pydantic-core passes when calling it.

Parameters:

  • self – The BaseModel instance.

  • context – The context.

agentlib.modules.controller.pid module

class agentlib.modules.controller.pid.PID(*, config, agent)[source]

Bases: SISOController

A proportional–integral–derivative controller (PID controller or three-term controller) with anti-wind up. It continuously calculates an error value e(t) as the difference between a desired set point and a measured process variable and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively) +——————–+—————+—————+———————+ | Parameter | Kp | Ki=(Kp/Ti) | Kd=(Kp*Td) | +——————–+—————+—————+———————+ | Rise time | Decrease | Decrease | Minor change | | Overshoot | Increase | Increase | Decrease | | Settling time | Small change | Increase | Decrease | | Steady-state error | Decrease | Eliminate | No effect in theory | | Stability | Degrade | Degrade | Improve if Kd small | +——————–+—————+—————+———————+

Configs:

setpoint (float): Set point of the controller Kp (float): proportional gain Ti (float): integration time in s Td (float): derivative time in s ub (float): high control limit lb (float): low control limit reverse(boolean): change of sign

property Kp

Get the current Kp value from data_broker or config

property Td

Get the current Td value from data_broker or config

property Ti

Get the current Ti value from data_broker or config

do_step(inp_var: AgentVariable)[source]

Controller step function. Needs to be a generator function, thus using yield instead of return

loop_sim()[source]

Loop over the do_step function

property setpoint

Get the current setpoint value from data_broker or config

pydantic model agentlib.modules.controller.pid.PIDConfig[source]

Bases: SISOControllerConfig

Pydantic data model for pid controller configuration parser

Config:

  • arbitrary_types_allowed: bool = True

  • validate_assignment: bool = True

  • extra: str = forbid

  • frozen: bool = True

Fields:
Validators:
field Kp: AgentVariable | float = AgentVariable(name='Kp', type='float', timestamp=None, unit='Not defined', description='Proportional gain', ub=inf, lb=-inf, clip=False, allowed_values=[], value=1, alias='Kp', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field Td: AgentVariable | float = AgentVariable(name='Td', type='float', timestamp=None, unit='seconds', description='Derivative time in s', ub=inf, lb=-inf, clip=False, allowed_values=[], value=0, alias='Td', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field Ti: AgentVariable | float = AgentVariable(name='Ti', type='float', timestamp=None, unit='Not defined', description='Integration time in s', ub=inf, lb=-inf, clip=False, allowed_values=[], value=inf, alias='Ti', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field input: AgentVariable = AgentVariable(name='u', type='float', timestamp=None, unit='Not defined', description='Not defined', ub=inf, lb=-inf, clip=False, allowed_values=[], value=0, alias='u', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field lb: float = -inf
Validated by:
field log_level: str | None = None

The log level for this Module. Default uses the root-loggers level.Options: DEBUG; INFO; WARNING; ERROR; CRITICAL

Validated by:
field module_id: str [Required]

The unqiue id of the module within an agent, used only to communicate withing the agent.

field output: AgentVariable = AgentVariable(name='y', type='float', timestamp=None, unit='Not defined', description='Not defined', ub=inf, lb=-inf, clip=False, allowed_values=[], value=0, alias='y', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field reverse: bool = False
field setpoint: AgentVariable | float = AgentVariable(name='setpoint', type='float', timestamp=None, unit='Not defined', description='Pid Setpoint', ub=inf, lb=-inf, clip=False, allowed_values=[], value=None, alias='setpoint', source=Source(agent_id=None, module_id=None), shared=None, rdf_class=None)
Validated by:
field shared_variable_fields: List[str] = []

A list of strings with each string being a field of the Modules configs. The field must be or contain an AgentVariable. If the field is added to this list, all shared attributes of the AgentVariables will be set to True.

Validated by:
field type: str | Dict[str, str] [Required]

The type of the Module. Used to find the Python-Object from all agentlib-core and plugin Module options. If a dict is given,it must contain the keys ‘file’ and ‘class_name’. ‘file’ is the filepath of a python file containing the Module.’class_name’ is the name of the Module class within this file.

field ub: float = inf
field validate_incoming_values: bool | None = True

If true, the validator of the AgentVariable value is called when receiving a new value from the DataBroker.

validator convert_to_variable  »  Td, Ti, setpoint, Kp[source]
model_post_init(context: Any, /) → None

This function is meant to behave like a BaseModel method to initialise private attributes.

It takes context as an argument since that’s what pydantic-core passes when calling it.

Parameters:

  • self – The BaseModel instance.

  • context – The context.