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Created on 19.05.2025 by Davide Carecci

Inscructions on how to run the closed-loop control in real-time on the Raspberry RPi connected with an Awite biogas analyzer (that "collects" also the data of the biogas flow rate) via Modbus.

General note

The "connections" between the files, the "blood" of this very simple controller structure is the use of "Timestamp" column in dataframes and files, correctly formatted.

  • TO BE RUN FROM TERMINAL (in the "...\Example\awite" directory):
    • modbus3.py
    • pwm_set_R1.py
  • TO BE RUN WITH CRONJOB EVERY HH AT HH:01 (in the "...\Example" directory):
    • cronjob.py

Data-read side

  • With modbus3.py in the \awite subfolder you read raw registers data and write like CSTR_1_2025_05_06.csv (it does reading for both reactors R1 and R2).
  • preprocess_meas.py in the \awite subfolder reads raw CSV files and preprocesses them (for both R1 and R2 reactors). It uses the from_register_to_data.py and from_data_to_y.py Python codes/functions. The "first step" of preprocessing is returned as data_R1.csv. The last step that will be read by the controller is as y_df_data_on_alt_R1.csv (see below).

Controller

  • cronjob.py checks every hour if the controller shall run or not. If True, it calls controller.py (modelname is the number of the reactor you want to perform control on, as string).
  • In controller.py the convert_u_to_pwm.py function converts the control action in g d$^{-1}$ to ON/OFF duty cycles of the peristaltic pumps (as pulse width modulation (PWM).

Control action side

  • NMPC_R1_pwm_actual_ANCILLARY.csv in the \Input subfolder is where the output of the controller is written, and read by the code that sets the RPi GPIO pins of the pump (pwm_set_R1.py).

Example usage

To run an ++off-line example++ with the ++provided data files++:

  • put the content of the this repository into the desired path. The main current working directory will be yourpath\\Example (open terminals from here to subfolders, and add yourpath inside the Python files where the ... placeholder is present);
  • also, modify the system path to be added and specify eventual desired input/output folder paths;
  • modify row 46 of preprocess_meas.py with now = datetime(2025,5,8,12,0);
  • do the same in row 76 of cronjob.py;