74 lines
3.0 KiB
Python
74 lines
3.0 KiB
Python
"""Example pump-station plant environment (spec FR-8.2.17).
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Demonstrates environment authoring: subclass PlantEnv, override
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``model()`` — read what the PLC commanded (DO/AO), compute what the
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field now shows (DI/AI). Run it live against a Modbus master:
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wago-sim serve --node config/pump_node.yaml --port 5020 \
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--env envs.pump_station_env:PumpStationEnv
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or headless for model development:
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wago-sim sim --node config/pump_node.yaml \
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--env envs.pump_station_env:PumpStationEnv
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Physics (deliberately simple, for demonstration): one tank.
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- inflow is constant (or a small sinusoidal demand profile)
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- the pump drains at `flow_max * capacity * speed` while DO0.0 is ON
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- the level integrates the balance; AI0.0 reports it as 0.1 mm/count
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- a low-level switch DI0.1 opens when the tank drains below 500 mm
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- optional is_done: stop after a sim hour (default: run forever)
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"""
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from __future__ import annotations
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from wago_sim.scenario.plantenv import PlantEnv, PlantState
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TANK_AREA = 2.0 # m^2
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FLOW_MAX = 30.0 # m^3/h the pump moves at full speed
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INFLOW = 12.0 # m^3/h constant inflow
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LEVEL_MAX = 9000.0 # mm — tank brim
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SWITCH_AT = 500.0 # mm — low-level switch threshold
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class PumpStationEnv(PlantEnv):
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"""Closed-loop tank + pump physics over the pump_node layout."""
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def __init__(self, *args, stop_after_ms: float | None = None, **kw):
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super().__init__(*args, **kw)
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self._level_mm = 3000.0 # initial tank level
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self.stop_after_ms = stop_after_ms
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def model(self, state: PlantState, dt_s: float) -> dict[str, object]:
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dt_h = dt_s / 3600.0
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# what the PLC currently commands
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pump_on = bool(state.by_code("DO0.0"))
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# optional speed setpoint from AO0.0 (counts -> 0..1 fraction)
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speed_raw = float(state.by_code("AO0.0") or 0)
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speed = min(1.0, max(0.0, speed_raw / 4095.0))
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# physics: water balance with pump wear (parameters attachable)
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capacity = state.parameters.get("pump_capacity", 1.0)
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outflow = FLOW_MAX * capacity * speed if pump_on else 0.0
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d_level_mm = (INFLOW - outflow) / TANK_AREA * 1000.0 * dt_h
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self._level_mm = min(LEVEL_MAX, max(0.0, self._level_mm + d_level_mm))
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# the field the PLC reads back
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level_counts = int(self._level_mm / 0.1) # AI0.0: 0.1 mm/count
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low_switch = self._level_mm < SWITCH_AT # DI0.1
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return {
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"AI0.0": level_counts,
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"DI0.1": low_switch,
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}
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def is_done(self, state: PlantState) -> bool:
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if self.stop_after_ms is None:
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return False # default: run until stopped
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return state.sim_time_ms >= self.stop_after_ms
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def make_env(node=None, engine=None) -> PumpStationEnv:
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"""Factory form (FR-8.2.17): envs.pump_station_env:make_env."""
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return PumpStationEnv(node=node, engine=engine)
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# bare-module form: `--env envs.pump_station_env` picks this up
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Env = PumpStationEnv |