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 909 2010-02-19 21:08:11Z arge $ |
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17 | *-------------------------------------------------------------------*# |
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18 | using "types"; |
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19 | |
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20 | |
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21 | Model PID |
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22 | |
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23 | ATTRIBUTES |
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24 | Pallete = true; |
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25 | Icon = "icon/PID"; |
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26 | |
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27 | PARAMETERS |
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28 | |
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29 | 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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30 | Action as Switcher (Brief="Controller action", Valid=["Direct","Reverse"], Default = "Reverse"); |
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31 | Mode as Switcher (Brief="Controller mode", Valid=["Automatic","Manual"], Default = "Automatic"); |
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32 | Clip as Switcher (Brief="Controller mode", Valid=["Clipped","Unclipped"], Default = "Clipped"); |
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33 | |
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34 | alpha as positive (Brief="Derivative term filter constant", Default=1); |
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35 | beta as positive (Brief="Proportional term setPoint change filter"); |
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36 | bias as control_signal (Brief="Previous scaled bias", Default=0.5); |
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37 | derivTime as time_sec (Brief="Derivative time constant"); |
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38 | intTime as time_sec (Brief="Integral time constant"); |
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39 | gain as positive (Brief="Controller gain", Default=0.5); |
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40 | gamma as positive (Brief="Derivative term SP change filter"); |
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41 | tau as time_sec (Brief="Input filter time constant"); |
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42 | tauSet as time_sec (Brief="Input filter time constant"); |
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43 | MinInput as control_signal (Default=0); |
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44 | MaxInput as control_signal (Default=1000); |
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45 | MinOutput as control_signal (Default=0); |
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46 | MaxOutput as control_signal (Default=1); |
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47 | |
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48 | VARIABLES |
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49 | in Input as control_signal (Protected=true, PosX=0, PosY=0.5); |
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50 | out Output as control_signal (Protected=true, PosX=0.54, PosY=1); |
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51 | SetPoint as control_signal; |
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52 | |
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53 | #++++++++++++++++++++ PID Internal Variables ++++++++++++++++++++++++++++++++ |
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54 | PID_derivTerm as control_signal (Brief="Derivative term", Hidden =true , Default=0); |
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55 | PID_dFilt as control_signal (Brief="Derivative term filtered", Hidden =true ,Default=0.5); |
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56 | PID_error as control_signal (Brief="Error definition for proportional term",Hidden =true ); |
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57 | PID_errorD as control_signal (Brief="Error definition for derivative term", Hidden =true ); |
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58 | PID_errorI as control_signal (Brief="Error definition for integral term", Hidden =true); |
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59 | PID_inputFilt as control_signal (Brief="Filtered input", Hidden =true); |
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60 | PID_intTerm as control_signal (Brief="Integral term", Hidden =true , Default=0); |
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61 | PID_outp as control_signal (Brief="Sum of proportional, integral and derivative terms", Hidden =true ); |
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62 | PID_outps as control_signal (Brief="Variable outp scaled between -1 and 1",Hidden =true); |
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63 | PID_propTerm as control_signal (Brief="Proportional term", Default=0 , Hidden =true ); |
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64 | PID_setPointFilt as control_signal (Brief="Filtered setPoint", Default=0, Hidden =true); |
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65 | PID_AWFactor as Real (Brief="Integral term multiplier used in anti-reset windup", Hidden=true); |
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66 | PID_action as Real (Protected=true, Hidden=true); |
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67 | |
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68 | PID_input as control_signal (Brief="Previous scaled input signal", Default=0.5, Hidden=true); |
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69 | PID_output as control_signal (Brief="Scaled output signal", Default=0.5, Hidden=true); |
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70 | PID_setPoint as control_signal (Brief="Scaled setPoint",Default=0.5, Hidden=true); |
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71 | #++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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72 | |
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73 | EQUATIONS |
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74 | |
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75 | "Input " |
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76 | PID_input*(MaxInput - MinInput) = Input - MinInput; |
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77 | |
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78 | "Output " |
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79 | Output = PID_output*(MaxOutput - MinOutput) + MinOutput; |
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80 | |
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81 | "Set Point " |
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82 | PID_setPoint*(MaxInput - MinInput) = SetPoint - MinInput; |
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83 | |
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84 | INITIAL |
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85 | |
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86 | PID_intTerm = 0; |
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87 | |
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88 | diff(PID_dFilt) = 0/'s'; |
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89 | |
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90 | diff(PID_inputFilt) = 0/'s'; |
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91 | |
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92 | diff(PID_setPointFilt) = 0/'s'; |
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93 | |
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94 | EQUATIONS |
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95 | |
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96 | if (tau < 1e-3*'s') then |
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97 | "Input first order filter" |
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98 | (tau + 1e-3*'s')*diff(PID_inputFilt)= PID_input - PID_inputFilt; |
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99 | else |
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100 | "Input first order filter" |
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101 | tau*diff(PID_inputFilt)= PID_input - PID_inputFilt; |
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102 | end |
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103 | |
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104 | if (tauSet < 1e-3*'s') then |
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105 | "setPoint first order filter" |
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106 | (tauSet + 1e-3*'s')*diff(PID_setPointFilt)= PID_setPoint - PID_setPointFilt; |
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107 | else |
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108 | "setPoint first order filter" |
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109 | tauSet*diff(PID_setPointFilt)= PID_setPoint - PID_setPointFilt; |
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110 | end |
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111 | |
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112 | switch Mode |
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113 | case "Manual": |
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114 | "Error definition for proportional term" |
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115 | PID_error = PID_inputFilt*(beta-1.0); |
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116 | "Error definition for derivative term" |
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117 | PID_errorD= PID_inputFilt*(gamma-1.0); |
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118 | "Error definition for integral term" |
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119 | PID_errorI= 0; |
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120 | case "Automatic": |
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121 | "Error definition for proportional term" |
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122 | PID_error = beta*PID_setPointFilt - PID_inputFilt; |
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123 | "Error definition for derivative term" |
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124 | PID_errorD = gamma*PID_setPointFilt - PID_inputFilt; |
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125 | "Error definition for integral term" |
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126 | PID_errorI = PID_setPointFilt-PID_inputFilt; |
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127 | end |
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128 | |
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129 | "Calculate proportional term" |
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130 | PID_propTerm=PID_error; |
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131 | |
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132 | if (derivTime < 1e-3*'s') then |
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133 | "Derivative term filter" |
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134 | alpha*(derivTime + 1e-3*'s')*diff(PID_dFilt) = PID_errorD - PID_dFilt; |
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135 | else |
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136 | "Derivative term filter" |
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137 | alpha*(derivTime)*diff(PID_dFilt) = PID_errorD - PID_dFilt; |
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138 | end |
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139 | |
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140 | "Calculate derivative term" |
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141 | PID_derivTerm = derivTime*diff(PID_dFilt); |
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142 | |
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143 | "Scale outp" |
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144 | PID_outps=2*PID_outp-1; |
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145 | |
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146 | switch Clip |
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147 | case "Clipped": |
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148 | if abs(PID_outps)>1 then |
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149 | "Calculate clipped output when saturated" |
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150 | PID_output=(sign(PID_outps)+1)/2; |
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151 | else |
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152 | "Calculate clipped output when not saturated" |
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153 | PID_output=PID_outp; |
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154 | end |
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155 | case "Unclipped": |
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156 | "Calculate unclipped output" |
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157 | PID_output=PID_outp; |
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158 | end |
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159 | |
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160 | switch Action |
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161 | case "Direct": |
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162 | PID_action = -1.0; |
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163 | case "Reverse": |
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164 | PID_action = 1.0; |
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165 | end |
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166 | |
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167 | |
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168 | switch PID_Select |
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169 | |
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170 | case "Ideal_AW": |
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171 | |
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172 | "Calculate integral term with anti-windup" |
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173 | intTime*diff(PID_intTerm) = PID_AWFactor*PID_errorI; |
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174 | |
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175 | "Sum of proportional, integral and derivative terms" |
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176 | PID_outp = bias + PID_action*gain*(PID_propTerm + PID_intTerm + PID_derivTerm); |
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177 | |
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178 | if abs(PID_outps)>1 and (PID_action*sign(PID_outps)*PID_errorI)>0 then |
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179 | "Calculate AWFactor" |
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180 | PID_AWFactor=-tanh(sign(PID_outps)*PID_outps*100-102); |
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181 | else |
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182 | "Calculate AWFactor" |
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183 | PID_AWFactor=1; |
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184 | end |
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185 | |
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186 | case "Parallel_AW": |
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187 | |
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188 | "Calculate integral term with anti-windup" |
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189 | intTime*diff(PID_intTerm) = PID_AWFactor*PID_errorI; |
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190 | |
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191 | "Sum of proportional, integral and derivative terms" |
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192 | PID_outp = bias + PID_action*(gain*PID_propTerm + PID_intTerm + PID_derivTerm); |
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193 | |
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194 | if abs(PID_outps)>1 and (PID_action*sign(PID_outps)*PID_errorI)>0 then |
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195 | "Calculate AWFactor" |
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196 | PID_AWFactor=-tanh(sign(PID_outps)*PID_outps*100-102); |
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197 | else |
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198 | "Calculate AWFactor" |
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199 | PID_AWFactor=1; |
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200 | end |
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201 | |
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202 | |
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203 | case "Series_AW": |
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204 | |
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205 | "Calculate integral term with anti-windup" |
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206 | intTime*diff(PID_intTerm) = PID_AWFactor*PID_errorI; |
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207 | |
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208 | "Sum of proportional, integral and derivative terms" |
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209 | PID_outp = bias + PID_action*(gain*(PID_propTerm + PID_intTerm)*(1 + PID_derivTerm)); |
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210 | |
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211 | if abs(PID_outps)>1 and (PID_action*sign(PID_outps)*PID_errorI)>0 then |
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212 | "Calculate AWFactor" |
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213 | PID_AWFactor=-tanh(sign(PID_outps)*PID_outps*100-102); |
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214 | else |
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215 | "Calculate AWFactor" |
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216 | PID_AWFactor=1; |
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217 | end |
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218 | |
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219 | case "Ideal": |
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220 | |
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221 | "Calculate integral term" |
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222 | intTime*diff(PID_intTerm) = PID_errorI; |
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223 | |
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224 | "Sum of proportional, integral and derivative terms" |
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225 | PID_outp = bias + PID_action*gain*(PID_propTerm + PID_intTerm + PID_derivTerm); |
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226 | |
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227 | "Calculate AWFactor - Not in use in this mode" |
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228 | PID_AWFactor=1; |
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229 | |
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230 | case "Parallel": |
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231 | |
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232 | "Calculate integral term" |
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233 | intTime*diff(PID_intTerm) = PID_errorI; |
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234 | |
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235 | "Sum of proportional, integral and derivative terms" |
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236 | PID_outp = bias + PID_action*(gain*PID_propTerm + PID_intTerm + PID_derivTerm); |
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237 | |
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238 | "Calculate AWFactor - Not in use in this mode" |
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239 | PID_AWFactor=1; |
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240 | |
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241 | case "Series": |
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242 | |
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243 | "Calculate integral term" |
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244 | intTime*diff(PID_intTerm) = PID_errorI; |
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245 | |
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246 | "Sum of proportional, integral and derivative terms" |
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247 | PID_outp = bias + PID_action*(gain*(PID_propTerm + PID_intTerm)*(1 + PID_derivTerm)); |
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248 | |
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249 | "Calculate AWFactor - Not in use in this mode" |
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250 | PID_AWFactor=1; |
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251 | |
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252 | case "Ideal_AWBT": |
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253 | |
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254 | "Calculate integral term with anti-windup and bumpless transfer" |
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255 | PID_action*gain*(intTime*diff(PID_intTerm)-PID_errorI) = PID_output-PID_outp; |
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256 | |
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257 | "Sum of proportional, integral and derivative terms" |
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258 | PID_outp = bias + PID_action*gain*(PID_propTerm + PID_intTerm + PID_derivTerm); |
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259 | |
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260 | "Calculate AWFactor - Not in use in this mode" |
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261 | PID_AWFactor=1; |
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262 | |
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263 | case "Parallel_AWBT": |
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264 | |
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265 | "Calculate integral term with anti-windup and bumpless transfer" |
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266 | PID_action*gain*(intTime*diff(PID_intTerm)-PID_errorI) = PID_output-PID_outp; |
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267 | |
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268 | "Sum of proportional, integral and derivative terms" |
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269 | PID_outp = bias + PID_action*(gain*PID_propTerm + PID_intTerm + PID_derivTerm); |
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270 | |
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271 | "Calculate AWFactor - Not in use in this mode" |
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272 | PID_AWFactor=1; |
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273 | |
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274 | case "Series_AWBT": |
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275 | |
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276 | "Calculate integral term with anti-windup and bumpless transfer" |
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277 | PID_action*gain*(intTime*diff(PID_intTerm)-PID_errorI) = PID_output-PID_outp; |
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278 | |
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279 | "Sum of proportional, integral and derivative terms" |
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280 | PID_outp = bias + PID_action*(gain*(PID_propTerm + PID_intTerm)*(1 + PID_derivTerm)); |
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281 | |
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282 | "Calculate AWFactor - Not in use in this mode" |
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283 | PID_AWFactor=1; |
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284 | |
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285 | end |
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286 | |
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287 | end |
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288 | |
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289 | Model FirstOrder |
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290 | ATTRIBUTES |
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291 | Pallete = false; |
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292 | Icon = "icon/PIDIncr"; |
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293 | |
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294 | PARAMETERS |
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295 | tau as Real (Brief="Time Constant", Unit = 's', Default=4); |
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296 | A as Real (Unit='1/s'); |
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297 | B as Real (Unit='1/s'); |
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298 | C as Real; |
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299 | D as Real(Default=0); |
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300 | |
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301 | VARIABLES |
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302 | x as control_signal(Brief="State"); |
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303 | in u as control_signal(Brief="Input signal", PosX=0, PosY=0.5); |
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304 | out y as control_signal(Brief="Output signal", PosX=1, PosY=0.5); |
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305 | |
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306 | EQUATIONS |
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307 | diff(x) = A*x + B*u; |
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308 | y = C*x + D*u; |
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309 | end |
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310 | |
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311 | Model StepSignal |
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312 | ATTRIBUTES |
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313 | Pallete = true; |
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314 | Icon = "icon/StepSignal"; |
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315 | |
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316 | PARAMETERS |
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317 | StepTime as positive(Unit='s'); |
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318 | StartValue as control_signal; |
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319 | FinalValue as control_signal; |
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320 | |
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321 | VARIABLES |
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322 | out OutSignal as control_signal(PosX=1, PosY=0.5); |
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323 | |
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324 | EQUATIONS |
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325 | if(time < StepTime) then |
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326 | OutSignal = StartValue; |
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327 | else |
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328 | OutSignal = FinalValue; |
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329 | end |
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330 | end |
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331 | |
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332 | Model ConstantSignal |
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333 | ATTRIBUTES |
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334 | Pallete = true; |
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335 | Icon = "icon/ConstSignal"; |
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336 | |
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337 | PARAMETERS |
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338 | Value as control_signal; |
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339 | |
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340 | VARIABLES |
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341 | out OutSignal as control_signal(PosX=1, PosY=0.5); |
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342 | |
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343 | EQUATIONS |
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344 | OutSignal = Value; |
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345 | end |
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