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: PIDs.mso 558 2008-07-21 20:41:41Z 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 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 PIDs."; |
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39 | |
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40 | VARIABLES |
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41 | |
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42 | derivTerm as control_signal (Brief="Derivative term", Default=0); |
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43 | dFilt as control_signal (Brief="Derivative term filtered", Default=0.5); |
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44 | error as control_signal (Brief="Error definition for proportional term"); |
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45 | errorD as control_signal (Brief="Error definition for derivative term"); |
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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 | intTerm as control_signal (Brief="Integral term", Default=0); |
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49 | outp as control_signal (Brief="Sum of proportional, integral and derivative terms"); |
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50 | outps as control_signal (Brief="Variable outp scaled between -1 and 1"); |
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51 | propTerm as control_signal (Brief="Proportional term", Default=0); |
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52 | setPointFilt as control_signal (Brief="Filtered setPoint", Default=0); |
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53 | |
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54 | end |
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55 | |
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56 | Model PID |
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57 | |
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58 | ATTRIBUTES |
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59 | Pallete = false; |
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60 | Icon = "icon/PID"; |
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61 | Brief = "Model of PIDs."; |
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62 | Info = |
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63 | "== Inputs == |
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64 | * scaled processs variable. |
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65 | * scaled bias. |
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66 | * scaled setpoint. |
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67 | |
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68 | == Outputs == |
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69 | * scaled output. |
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70 | "; |
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71 | |
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72 | PARAMETERS |
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73 | 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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74 | Action as Switcher (Brief="Controller action", Valid=["Direct","Reverse"], Default = "Reverse"); |
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75 | Mode as Switcher (Brief="Controller mode", Valid=["Automatic","Manual"], Default = "Automatic"); |
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76 | Clip as Switcher (Brief="Controller mode", Valid=["Clipped","Unclipped"], Default = "Clipped"); |
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77 | |
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78 | alpha as positive (Brief="Derivative term filter constant", Default=1); |
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79 | beta as positive (Brief="Proportional term setPoint change filter"); |
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80 | bias as control_signal (Brief="Previous scaled bias", Default=0.5); |
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81 | derivTime as time_sec (Brief="Derivative time constant"); |
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82 | intTime as time_sec (Brief="Integral time constant"); |
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83 | gain as positive (Brief="Controller gain", Default=0.5); |
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84 | gamma as positive (Brief="Derivative term SP change filter"); |
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85 | tau as time_sec (Brief="Input filter time constant"); |
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86 | tauSet as time_sec (Brief="Input filter time constant"); |
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87 | |
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88 | VARIABLES |
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89 | Internal as MInternal_Variables; |
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90 | Ports as MPorts; |
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91 | AWFactor as Real (Brief="Integral term multiplier used in anti-reset windup"); |
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92 | action as Real(Protected=true); |
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93 | |
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94 | INITIAL |
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95 | Internal.intTerm = 0; |
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96 | diff(Internal.dFilt) = 0/'s'; |
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97 | diff(Internal.inputFilt) = 0/'s'; |
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98 | diff(Internal.setPointFilt) = 0/'s'; |
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99 | |
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100 | EQUATIONS |
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101 | |
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102 | if (tau equal 0) then |
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103 | "Input first order filter" |
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104 | (tau + 1e-3*'s')*diff(Internal.inputFilt)= Ports.input - Internal.inputFilt; |
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105 | else |
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106 | "Input first order filter" |
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107 | tau*diff(Internal.inputFilt)= Ports.input - Internal.inputFilt; |
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108 | end |
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109 | |
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110 | if (tauSet equal 0) then |
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111 | "setPoint first order filter" |
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112 | (tauSet + 1e-3*'s')*diff(Internal.setPointFilt)= Ports.setPoint - Internal.setPointFilt; |
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113 | else |
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114 | "setPoint first order filter" |
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115 | tauSet*diff(Internal.setPointFilt)= Ports.setPoint - Internal.setPointFilt; |
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116 | end |
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117 | |
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118 | switch Mode |
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119 | case "Manual": |
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120 | "Error definition for proportional term" |
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121 | Internal.error = Internal.inputFilt*(beta-1.0); |
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122 | "Error definition for derivative term" |
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123 | Internal.errorD= Internal.inputFilt*(gamma-1.0); |
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124 | "Error definition for integral term" |
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125 | Internal.errorI= 0; |
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126 | case "Automatic": |
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127 | "Error definition for proportional term" |
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128 | Internal.error = beta*Internal.setPointFilt - Internal.inputFilt; |
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129 | "Error definition for derivative term" |
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130 | Internal.errorD = gamma*Internal.setPointFilt - Internal.inputFilt; |
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131 | "Error definition for integral term" |
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132 | Internal.errorI = Internal.setPointFilt-Internal.inputFilt; |
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133 | end |
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134 | |
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135 | "Calculate proportional term" |
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136 | Internal.propTerm=Internal.error; |
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137 | |
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138 | if (derivTime equal 0) then |
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139 | "Derivative term filter" |
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140 | alpha*(derivTime + 1e-3*'s')*diff(Internal.dFilt) = Internal.errorD - Internal.dFilt; |
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141 | else |
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142 | "Derivative term filter" |
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143 | alpha*(derivTime)*diff(Internal.dFilt) = Internal.errorD - Internal.dFilt; |
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144 | end |
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145 | |
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146 | "Calculate derivative term" |
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147 | Internal.derivTerm = derivTime*diff(Internal.dFilt); |
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148 | |
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149 | "Scale outp" |
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150 | Internal.outps=2*Internal.outp-1; |
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151 | |
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152 | switch Clip |
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153 | case "Clipped": |
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154 | if abs(Internal.outps)>1 then |
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155 | "Calculate clipped output when it´s saturated" |
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156 | Ports.output=(sign(Internal.outps)*1+1)/2; |
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157 | else |
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158 | "Calculate clipped output when it´s not saturated" |
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159 | Ports.output=Internal.outp; |
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160 | end |
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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 | |
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174 | switch PID_Select |
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175 | |
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176 | case "Ideal_AW": |
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177 | |
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178 | "Calculate integral term with anti-windup" |
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179 | intTime*diff(Internal.intTerm) = AWFactor*Internal.errorI; |
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180 | |
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181 | "Sum of proportional, integral and derivative terms" |
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182 | Internal.outp = bias + action*gain*(Internal.propTerm + Internal.intTerm + Internal.derivTerm); |
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183 | |
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184 | if abs(Internal.outps)>1 and (action*sign(Internal.outps)*Internal.errorI)>0 then |
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185 | "Calculate AWFactor" |
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186 | AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102); |
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187 | else |
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188 | "Calculate AWFactor" |
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189 | AWFactor=1; |
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190 | end |
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191 | |
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192 | case "Parallel_AW": |
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193 | |
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194 | "Calculate integral term with anti-windup" |
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195 | intTime*diff(Internal.intTerm) = AWFactor*Internal.errorI; |
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196 | |
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197 | "Sum of proportional, integral and derivative terms" |
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198 | Internal.outp = bias + action*(gain*Internal.propTerm + Internal.intTerm + Internal.derivTerm); |
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199 | |
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200 | if abs(Internal.outps)>1 and (action*sign(Internal.outps)*Internal.errorI)>0 then |
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201 | "Calculate AWFactor" |
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202 | AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102); |
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203 | else |
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204 | "Calculate AWFactor" |
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205 | AWFactor=1; |
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206 | end |
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207 | |
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208 | |
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209 | case "Series_AW": |
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210 | |
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211 | "Calculate integral term with anti-windup" |
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212 | intTime*diff(Internal.intTerm) = AWFactor*Internal.errorI; |
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213 | |
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214 | "Sum of proportional, integral and derivative terms" |
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215 | Internal.outp = bias + action*(gain*(Internal.propTerm + Internal.intTerm)*(1 + Internal.derivTerm)); |
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216 | |
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217 | if abs(Internal.outps)>1 and (action*sign(Internal.outps)*Internal.errorI)>0 then |
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218 | "Calculate AWFactor" |
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219 | AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102); |
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220 | else |
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221 | "Calculate AWFactor" |
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222 | AWFactor=1; |
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223 | end |
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224 | |
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225 | case "Ideal": |
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226 | |
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227 | "Calculate integral term" |
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228 | intTime*diff(Internal.intTerm) = Internal.errorI; |
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229 | |
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230 | "Sum of proportional, integral and derivative terms" |
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231 | Internal.outp = bias + action*gain*(Internal.propTerm + Internal.intTerm + Internal.derivTerm); |
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232 | |
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233 | "Calculate AWFactor - Not in use in this mode" |
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234 | AWFactor=1; |
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235 | |
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236 | case "Parallel": |
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237 | |
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238 | "Calculate integral term" |
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239 | intTime*diff(Internal.intTerm) = Internal.errorI; |
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240 | |
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241 | "Sum of proportional, integral and derivative terms" |
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242 | Internal.outp = bias + action*(gain*Internal.propTerm + Internal.intTerm + Internal.derivTerm); |
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243 | |
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244 | "Calculate AWFactor - Not in use in this mode" |
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245 | AWFactor=1; |
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246 | |
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247 | case "Series": |
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248 | |
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249 | "Calculate integral term" |
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250 | intTime*diff(Internal.intTerm) = Internal.errorI; |
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251 | |
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252 | "Sum of proportional, integral and derivative terms" |
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253 | Internal.outp = bias + action*(gain*(Internal.propTerm + Internal.intTerm)*(1 + Internal.derivTerm)); |
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254 | |
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255 | "Calculate AWFactor - Not in use in this mode" |
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256 | AWFactor=1; |
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257 | |
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258 | case "Ideal_AWBT": |
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259 | |
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260 | "Calculate integral term with anti-windup and bumpless transfer" |
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261 | action*gain*(intTime*diff(Internal.intTerm)-Internal.errorI) = Ports.output-Internal.outp; |
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262 | |
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263 | "Sum of proportional, integral and derivative terms" |
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264 | Internal.outp = bias + action*gain*(Internal.propTerm + Internal.intTerm + Internal.derivTerm); |
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265 | |
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266 | "Calculate AWFactor - Not in use in this mode" |
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267 | AWFactor=1; |
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268 | |
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269 | case "Parallel_AWBT": |
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270 | |
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271 | "Calculate integral term with anti-windup and bumpless transfer" |
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272 | action*gain*(intTime*diff(Internal.intTerm)-Internal.errorI) = Ports.output-Internal.outp; |
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273 | |
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274 | "Sum of proportional, integral and derivative terms" |
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275 | Internal.outp = bias + action*(gain*Internal.propTerm + Internal.intTerm + Internal.derivTerm); |
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276 | |
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277 | "Calculate AWFactor - Not in use in this mode" |
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278 | AWFactor=1; |
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279 | |
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280 | case "Series_AWBT": |
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281 | |
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282 | "Calculate integral term with anti-windup and bumpless transfer" |
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283 | action*gain*(intTime*diff(Internal.intTerm)-Internal.errorI) = Ports.output-Internal.outp; |
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284 | |
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285 | "Sum of proportional, integral and derivative terms" |
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286 | Internal.outp = bias + action*(gain*(Internal.propTerm + Internal.intTerm)*(1 + Internal.derivTerm)); |
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287 | |
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288 | "Calculate AWFactor - Not in use in this mode" |
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289 | AWFactor=1; |
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290 | |
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291 | end |
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292 | |
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293 | end |
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294 | |
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295 | |
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296 | Model PID_gui as PID |
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297 | ATTRIBUTES |
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298 | Pallete = true; |
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299 | Icon = "icon/PIDIncr"; |
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300 | |
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301 | PARAMETERS |
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302 | MinInput as control_signal(Default=-1000); |
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303 | MaxInput as control_signal(Default=1000); |
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304 | |
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305 | VARIABLES |
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306 | in Input as control_signal(Protected=true, PosX=0, PosY=0.5); |
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307 | out Output as control_signal(Protected=true, PosX=1, PosY=0.5); |
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308 | SetPoint as control_signal; |
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309 | |
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310 | EQUATIONS |
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311 | Ports.input*(MaxInput - MinInput) = Input - MinInput; |
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312 | Ports.output = Output; |
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313 | Ports.setPoint*(MaxInput - MinInput) = SetPoint - MinInput; |
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314 | end |
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315 | |
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316 | Model FirstOrder |
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317 | ATTRIBUTES |
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318 | Pallete = true; |
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319 | Icon = "icon/PIDIncr"; |
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320 | |
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321 | PARAMETERS |
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322 | tau as Real (Brief="Time Constant", Unit = 's', Default=4); |
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323 | A as Real (Unit='1/s'); |
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324 | B as Real (Unit='1/s'); |
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325 | C as Real; |
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326 | D as Real(Default=0); |
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327 | |
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328 | VARIABLES |
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329 | x as control_signal(Brief="State"); |
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330 | in u as control_signal(Brief="Input signal", PosX=0, PosY=0.5); |
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331 | out y as control_signal(Brief="Output signal", PosX=1, PosY=0.5); |
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332 | |
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333 | EQUATIONS |
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334 | diff(x) = A*x + B*u; |
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335 | y = C*x + D*u; |
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336 | end |
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337 | |
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338 | |
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339 | Model StepSignal |
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340 | ATTRIBUTES |
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341 | Pallete = true; |
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342 | Icon = "icon/PIDIncr"; |
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343 | |
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344 | PARAMETERS |
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345 | StepTime as positive(Unit='s'); |
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346 | StartValue as control_signal; |
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347 | FinalValue as control_signal; |
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348 | |
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349 | VARIABLES |
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350 | out OutSignal as control_signal(PosX=1, PosY=0.5); |
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351 | |
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352 | EQUATIONS |
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353 | if(time < StepTime) then |
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354 | OutSignal = StartValue; |
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355 | else |
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356 | OutSignal = FinalValue; |
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357 | end |
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358 | end |
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359 | |
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360 | Model ConstantSignal |
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361 | ATTRIBUTES |
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362 | Pallete = true; |
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363 | Icon = "icon/PIDIncr"; |
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364 | |
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365 | PARAMETERS |
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366 | Value as control_signal; |
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367 | |
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368 | VARIABLES |
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369 | out OutSignal as control_signal(PosX=1, PosY=0.5); |
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370 | |
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371 | EQUATIONS |
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372 | OutSignal = Value; |
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373 | end |
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