| 1 | #*------------------------------------------------------------------- |
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| 2 | * EMSO Model Library (EML) Copyright (C) 2004 - 2007 ALSOC. |
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| 3 | * |
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| 4 | * This LIBRARY is free software; you can distribute it and/or modify |
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| 5 | * it under the therms of the ALSOC FREE LICENSE as available at |
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| 6 | * http://www.enq.ufrgs.br/alsoc. |
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| 7 | * |
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| 8 | * EMSO Copyright (C) 2004 - 2007 ALSOC, original code |
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| 9 | * from http://www.rps.eng.br Copyright (C) 2002-2004. |
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| 10 | * All rights reserved. |
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| 11 | * |
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| 12 | * EMSO is distributed under the therms of the ALSOC LICENSE as |
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| 13 | * available at http://www.enq.ufrgs.br/alsoc. |
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| 14 | *-------------------------------------------------------------------- |
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| 15 | * Author: Tiago Osório |
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| 16 | * $Id: PIDIncr.mso 560 2008-07-23 17:13:20Z rafael $ |
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| 17 | *-------------------------------------------------------------------*# |
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| 18 | using "types"; |
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| 19 | |
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| 20 | Model MPorts |
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| 21 | |
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| 22 | ATTRIBUTES |
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| 23 | Pallete = false; |
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| 24 | Brief = "Model of Ports to be used with incremental PIDs."; |
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| 25 | |
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| 26 | VARIABLES |
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| 27 | |
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| 28 | input as control_signal (Brief="Previous scaled input signal", Default=0.5); |
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| 29 | output as control_signal (Brief="Scaled output signal", Default=0.5); |
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| 30 | setPoint as control_signal (Brief="Scaled setPoint",Default=0.5); |
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| 31 | |
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| 32 | end |
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| 33 | |
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| 34 | Model MInternal_Variables |
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| 35 | |
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| 36 | ATTRIBUTES |
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| 37 | Pallete = false; |
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| 38 | Brief = "Model of Internal Variables to be used with incremental PIDs."; |
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| 39 | |
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| 40 | VARIABLES |
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| 41 | |
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| 42 | dderivTerm as control_signal (Brief="Derivative term",Unit='1/s', Default=0); |
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| 43 | dFilt as control_signal (Brief="Derivative term filtered", Default=0.5,Unit='1/s'); |
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| 44 | error as control_signal (Brief="Error definition for proportional term",Unit='1/s'); |
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| 45 | errorD as control_signal (Brief="Error definition for derivative term",Unit='1/s'); |
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| 46 | errorI as control_signal (Brief="Error definition for integral term"); |
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| 47 | inputFilt as control_signal (Brief="Filtered input"); |
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| 48 | dintTerm as control_signal (Brief="Integral term", Default=0,Unit='1/s'); |
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| 49 | doutp as control_signal (Brief="Sum of proportional, integral and derivative terms",Unit='1/s'); |
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| 50 | outps as control_signal (Brief="Variable outp scaled between -1 and 1"); |
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| 51 | outp as control_signal (Brief="Variable outp"); |
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| 52 | dpropTerm as control_signal (Brief="Proportional term", Default=0,Unit='1/s'); |
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| 53 | setPointFilt as control_signal (Brief="Filtered setPoint", Default=0); |
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| 54 | |
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| 55 | end |
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| 56 | |
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| 57 | Model PIDIncr |
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| 58 | |
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| 59 | ATTRIBUTES |
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| 60 | Pallete = true; |
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| 61 | Icon = "icon/PIDIncr"; |
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| 62 | Brief = "Model of incremental PIDs."; |
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| 63 | Info = |
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| 64 | "== Inputs == |
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| 65 | * scaled processs variable. |
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| 66 | * scaled bias. |
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| 67 | * scaled setpoint. |
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| 68 | |
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| 69 | == Outputs == |
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| 70 | * a scaled output. |
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| 71 | "; |
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| 72 | |
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| 73 | PARAMETERS |
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| 74 | |
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| 75 | PID_Select as Switcher (Brief="Type of PID Incremental", Valid=["Ideal","Parallel","Series","Ideal_AWBT","Parallel_AWBT","Series_AWBT","Ideal_AW","Parallel_AW","Series_AW"], Default = "Ideal"); |
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| 76 | Action as Switcher (Brief="Controller action", Valid=["Direct","Reverse"], Default = "Reverse"); |
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| 77 | Mode as Switcher (Brief="Controller mode", Valid=["Automatic","Manual"], Default = "Automatic"); |
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| 78 | Clip as Switcher (Brief="Controller mode", Valid=["Clipped","Unclipped"], Default = "Clipped"); |
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| 79 | |
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| 80 | alpha as positive (Brief="Derivative term filter constant", Default=1); |
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| 81 | beta as positive (Brief="Proportional term setPoint change filter"); |
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| 82 | bias as control_signal (Brief="Previous scaled bias", Default=0.5); |
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| 83 | derivTime as time_sec (Brief="Derivative time constant"); |
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| 84 | intTime as time_sec (Brief="Integral time constant"); |
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| 85 | gain as positive (Brief="Controller gain", Default=0.5); |
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| 86 | gamma as positive (Brief="Derivative term SP change filter"); |
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| 87 | tau as time_sec (Brief="Input filter time constant"); |
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| 88 | tauSet as time_sec (Brief="Input filter time constant"); |
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| 89 | |
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| 90 | VARIABLES |
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| 91 | Internal as MInternal_Variables; |
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| 92 | Ports as MPorts; |
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| 93 | AWFactor as Real(Brief="Integral term multiplier used in anti-reset windup", Hidden=true); |
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| 94 | action as Real(Hidden=true); |
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| 95 | |
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| 96 | EQUATIONS |
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| 97 | |
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| 98 | if (tau < 1e-6) then |
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| 99 | "Input first order filter" |
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| 100 | (tau + 1e-3*'s')*diff(Internal.inputFilt)= Ports.input - Internal.inputFilt; |
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| 101 | else |
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| 102 | "Input first order filter" |
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| 103 | tau*diff(Internal.inputFilt)= Ports.input - Internal.inputFilt; |
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| 104 | end |
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| 105 | |
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| 106 | if (tauSet < 1e-6) then |
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| 107 | "setPoint first order filter" |
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| 108 | (tauSet + 1e-3*'s')*diff(Internal.setPointFilt)= Ports.setPoint - Internal.setPointFilt; |
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| 109 | else |
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| 110 | "setPoint first order filter" |
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| 111 | tauSet*diff(Internal.setPointFilt)= Ports.setPoint - Internal.setPointFilt; |
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| 112 | end |
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| 113 | |
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| 114 | switch Mode |
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| 115 | case "Manual": |
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| 116 | "Error definition for proportional term" |
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| 117 | Internal.error*'s' = Internal.inputFilt*(beta-1.0); |
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| 118 | "Error definition for derivative term" |
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| 119 | Internal.errorD*'s'= Internal.inputFilt*(gamma-1.0); |
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| 120 | "Error definition for integral term" |
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| 121 | Internal.errorI= 0; |
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| 122 | case "Automatic": |
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| 123 | "Error definition for proportional term" |
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| 124 | Internal.error = beta*diff(Internal.setPointFilt) - diff(Internal.inputFilt); |
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| 125 | "Error definition for derivative term" |
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| 126 | Internal.errorD = gamma*diff(Internal.setPointFilt) - diff(Internal.inputFilt); |
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| 127 | "Error definition for integral term" |
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| 128 | Internal.errorI = Internal.setPointFilt-Internal.inputFilt; |
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| 129 | end |
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| 130 | |
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| 131 | "Calculate proportional term" |
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| 132 | Internal.dpropTerm=Internal.error; |
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| 133 | |
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| 134 | if (derivTime equal 0) then |
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| 135 | "Derivative term filter" |
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| 136 | alpha*(derivTime + 1e-3*'s')*diff(Internal.dFilt) = Internal.errorD - Internal.dFilt; |
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| 137 | else |
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| 138 | "Derivative term filter" |
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| 139 | alpha*(derivTime)*diff(Internal.dFilt) = Internal.errorD - Internal.dFilt; |
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| 140 | end |
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| 141 | |
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| 142 | "Calculate derivative term" |
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| 143 | Internal.dderivTerm = derivTime*diff(Internal.dFilt); |
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| 144 | |
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| 145 | "Unscaled output" |
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| 146 | diff(Internal.outp)=Internal.doutp; |
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| 147 | |
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| 148 | "Scale outp" |
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| 149 | Internal.outps=2*Internal.outp-1; |
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| 150 | |
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| 151 | switch Clip |
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| 152 | case "Clipped": |
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| 153 | #if abs(Internal.outps)>1 then |
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| 154 | # "Calculate clipped output when it's saturated" |
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| 155 | # Ports.output=(sign(Internal.outps)*1+1)/2; |
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| 156 | #else |
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| 157 | # "Calculate clipped output when it's not saturated" |
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| 158 | # Ports.output=Internal.outps; |
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| 159 | #end |
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| 160 | Ports.output = max([0, Internal.outp]); |
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| 161 | case "Unclipped": |
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| 162 | "Calculate unclipped output" |
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| 163 | Ports.output=Internal.outp; |
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| 164 | end |
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| 165 | |
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| 166 | switch Action |
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| 167 | case "Direct": |
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| 168 | action = -1.0; |
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| 169 | case "Reverse": |
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| 170 | action = 1.0; |
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| 171 | end |
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| 172 | |
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| 173 | switch PID_Select |
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| 174 | |
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| 175 | case "Ideal": |
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| 176 | |
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| 177 | "Calculate integral term" |
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| 178 | intTime*Internal.dintTerm = Internal.errorI; |
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| 179 | |
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| 180 | "Sum of proportional, integral and derivative terms" |
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| 181 | Internal.doutp = action*gain*(Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm); |
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| 182 | |
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| 183 | "Calculate AWFactor - Not in use in this mode" |
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| 184 | AWFactor=1; |
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| 185 | |
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| 186 | case "Parallel": |
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| 187 | |
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| 188 | "Calculate integral term" |
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| 189 | intTime*Internal.dintTerm = Internal.errorI; |
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| 190 | |
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| 191 | "Sum of proportional, integral and derivative terms" |
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| 192 | Internal.doutp = action*(gain*Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm); |
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| 193 | |
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| 194 | "Calculate AWFactor - Not in use in this mode" |
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| 195 | AWFactor=1; |
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| 196 | |
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| 197 | case "Series": |
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| 198 | |
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| 199 | "Calculate integral term" |
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| 200 | intTime*Internal.dintTerm = Internal.errorI; |
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| 201 | |
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| 202 | "Sum of proportional, integral and derivative terms" |
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| 203 | Internal.doutp = action*(gain*(Internal.dpropTerm + Internal.dintTerm)*(1/'s' + Internal.dderivTerm)*'s'); |
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| 204 | |
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| 205 | "Calculate AWFactor - Not in use in this mode" |
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| 206 | AWFactor=1; |
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| 207 | |
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| 208 | case "Ideal_AWBT": |
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| 209 | |
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| 210 | "Calculate integral term with anti-windup and bumpless transfer" |
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| 211 | action*gain*(intTime*Internal.dintTerm-Internal.errorI) = Ports.output-Internal.outp; |
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| 212 | |
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| 213 | "Sum of proportional, integral and derivative terms" |
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| 214 | Internal.doutp = action*gain*(Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm); |
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| 215 | |
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| 216 | "Calculate AWFactor - Not in use in this mode" |
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| 217 | AWFactor=1; |
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| 218 | |
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| 219 | case "Parallel_AWBT": |
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| 220 | |
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| 221 | "Calculate integral term with anti-windup and bumpless transfer" |
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| 222 | action*gain*(intTime*Internal.dintTerm-Internal.errorI) = Ports.output-Internal.outp; |
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| 223 | |
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| 224 | "Sum of proportional, integral and derivative terms" |
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| 225 | Internal.doutp = action*(gain*Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm); |
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| 226 | |
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| 227 | "Calculate AWFactor - Not in use in this mode" |
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| 228 | AWFactor=1; |
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| 229 | |
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| 230 | case "Series_AWBT": |
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| 231 | |
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| 232 | "Calculate integral term with anti-windup and bumpless transfer" |
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| 233 | action*gain*(intTime*Internal.dintTerm-Internal.errorI) = Ports.output-Internal.outp; |
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| 234 | |
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| 235 | "Sum of proportional, integral and derivative terms" |
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| 236 | Internal.doutp = action*(gain*(Internal.dpropTerm + Internal.dintTerm)*(1/'s' + Internal.dderivTerm)*'s'); |
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| 237 | |
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| 238 | "Calculate AWFactor - Not in use in this mode" |
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| 239 | AWFactor=1; |
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| 240 | |
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| 241 | case "Ideal_AW": |
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| 242 | |
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| 243 | "Calculate integral term with anti-windup" |
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| 244 | intTime*Internal.dintTerm = AWFactor*Internal.errorI; |
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| 245 | |
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| 246 | "Sum of proportional, integral and derivative terms" |
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| 247 | Internal.doutp = action*gain*(Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm); |
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| 248 | |
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| 249 | if abs(Internal.outps)>1 and (action*sign(Internal.outps)*Internal.errorI)>0 then |
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| 250 | "Calculate AWFactor" |
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| 251 | AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102); |
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| 252 | else |
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| 253 | "Calculate AWFactor" |
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| 254 | AWFactor=1; |
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| 255 | end |
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| 256 | |
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| 257 | case "Parallel_AW": |
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| 258 | |
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| 259 | "Calculate integral term with anti-windup" |
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| 260 | intTime*Internal.dintTerm = AWFactor*Internal.errorI; |
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| 261 | |
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| 262 | "Sum of proportional, integral and derivative terms" |
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| 263 | Internal.doutp = action*(gain*Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm); |
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| 264 | |
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| 265 | if abs(Internal.outps)>1 and (action*sign(Internal.outps)*Internal.errorI)>0 then |
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| 266 | "Calculate AWFactor" |
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| 267 | AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102); |
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| 268 | else |
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| 269 | "Calculate AWFactor" |
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| 270 | AWFactor=1; |
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| 271 | end |
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| 272 | |
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| 273 | case "Series_AW": |
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| 274 | |
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| 275 | "Calculate integral term with anti-windup" |
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| 276 | intTime*Internal.dintTerm = AWFactor*Internal.errorI; |
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| 277 | |
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| 278 | "Sum of proportional, integral and derivative terms" |
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| 279 | Internal.doutp = action*(gain*(Internal.dpropTerm + Internal.dintTerm)*(1/'s' + Internal.dderivTerm)*'s'); |
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| 280 | |
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| 281 | if abs(Internal.outps)>1 and (action*sign(Internal.outps)*Internal.errorI)>0 then |
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| 282 | "Calculate AWFactor" |
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| 283 | AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102); |
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| 284 | else |
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| 285 | "Calculate AWFactor" |
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| 286 | AWFactor=1; |
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| 287 | end |
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| 288 | |
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| 289 | end |
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| 290 | |
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| 291 | INITIAL |
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| 292 | Ports.output = bias; |
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| 293 | diff(Internal.dFilt) = 0/'s^2'; |
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| 294 | diff(Internal.inputFilt)=0/'s'; |
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| 295 | diff(Internal.setPointFilt)=0/'s'; |
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| 296 | |
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| 297 | end |
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