| 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 | * |
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| 16 | *------------------------------------------------------------------- |
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| 17 | * Sample file for tanks level control |
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| 18 | * |
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| 19 | *------------------------------------------------------------------- |
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| 20 | * Author: Tiago Osório |
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| 21 | * $Id: sample_tanks_pid.mso 558 2008-07-21 20:41:41Z rafael $ |
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| 22 | *-----------------------------------------------------------------*# |
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| 23 | |
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| 24 | using "tanksmodel"; |
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| 25 | using "controllers/PIDs"; |
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| 26 | using "controllers/PIDIncr"; |
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| 27 | |
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| 28 | |
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| 29 | FlowSheet Tanque_inc |
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| 30 | DEVICES |
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| 31 | Tanque1 as tank; |
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| 32 | PIDc as PIDIncr; |
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| 33 | |
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| 34 | PARAMETERS |
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| 35 | h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m'); |
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| 36 | h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m'); |
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| 37 | |
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| 38 | VARIABLES |
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| 39 | h_ad as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1); |
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| 40 | |
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| 41 | CONNECTIONS |
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| 42 | |
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| 43 | SET |
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| 44 | Tanque1.A = 8 * 'm^2'; |
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| 45 | h_max = 2 * 'm'; |
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| 46 | h_min = 0 * 'm'; |
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| 47 | PIDc.PID_Select = "Ideal_AWBT"; |
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| 48 | |
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| 49 | PIDc.tau = 1*'s'; |
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| 50 | PIDc.tauSet = 1*'s'; |
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| 51 | PIDc.alpha = 0.3; |
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| 52 | PIDc.bias = 0; |
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| 53 | PIDc.gamma = 1; |
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| 54 | PIDc.beta = 1; |
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| 55 | PIDc.Action = "Direct"; |
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| 56 | PIDc.Clip = "Clipped"; |
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| 57 | PIDc.Mode = "Automatic"; |
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| 58 | PIDc.intTime=5000*'s'; |
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| 59 | PIDc.gain = 3.5; |
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| 60 | PIDc.derivTime=1*'s'; |
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| 61 | |
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| 62 | EQUATIONS |
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| 63 | |
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| 64 | PIDc.Ports.input = h_ad; |
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| 65 | h_ad = (Tanque1.h-h_min)/(h_max-h_min); |
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| 66 | Tanque1.k = 8*'m^2.5/h'*PIDc.Ports.output; |
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| 67 | |
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| 68 | #Perturbação servo |
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| 69 | #Nível desejado=1*'m' |
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| 70 | PIDc.Ports.setPoint=0.5; |
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| 71 | |
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| 72 | #Perturbação regulatória |
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| 73 | if time<10*'h' then |
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| 74 | Tanque1.Fin= 3*'m^3/h'; |
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| 75 | else |
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| 76 | Tanque1.Fin= 1.5*'m^3/h'; |
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| 77 | end |
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| 78 | |
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| 79 | INITIAL |
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| 80 | "altura inicial" |
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| 81 | Tanque1.h = 0.2 * 'm'; |
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| 82 | |
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| 83 | OPTIONS |
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| 84 | TimeStep = 0.1; |
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| 85 | TimeEnd = 30; |
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| 86 | TimeUnit = 'h'; |
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| 87 | end |
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| 88 | |
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| 89 | FlowSheet Tanque |
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| 90 | DEVICES |
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| 91 | Tanque1 as tank; |
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| 92 | PIDx as PID; |
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| 93 | |
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| 94 | PARAMETERS |
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| 95 | h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m'); |
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| 96 | h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m'); |
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| 97 | |
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| 98 | VARIABLES |
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| 99 | h_ad as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1); |
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| 100 | |
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| 101 | CONNECTIONS |
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| 102 | |
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| 103 | SET |
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| 104 | Tanque1.A = 8 * 'm^2'; |
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| 105 | h_max = 2 * 'm'; |
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| 106 | h_min = 0 * 'm'; |
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| 107 | PIDx.PID_Select = "Ideal_AWBT"; |
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| 108 | |
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| 109 | PIDx.tau = 1*'s'; |
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| 110 | PIDx.tauSet = 1*'s'; |
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| 111 | PIDx.alpha = 0.3; |
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| 112 | PIDx.bias = 0; |
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| 113 | PIDx.gamma = 1; |
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| 114 | PIDx.beta = 1; |
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| 115 | PIDx.intTime=5000*'s'; |
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| 116 | PIDx.gain =3.5; |
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| 117 | PIDx.derivTime=1*'s'; |
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| 118 | PIDx.Action = "Direct"; |
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| 119 | PIDx.Clip = "Clipped"; |
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| 120 | PIDx.Mode = "Automatic"; |
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| 121 | |
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| 122 | EQUATIONS |
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| 123 | |
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| 124 | PIDx.Ports.input = h_ad; |
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| 125 | h_ad = (Tanque1.h-h_min)/(h_max-h_min); |
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| 126 | Tanque1.k = 8*'m^2.5/h'*PIDx.Ports.output; |
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| 127 | |
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| 128 | #Perturbação servo |
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| 129 | #Nível desejado=1*'m' |
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| 130 | PIDx.Ports.setPoint=0.5; |
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| 131 | |
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| 132 | #Perturbação regulatória |
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| 133 | if time<10*'h' then |
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| 134 | Tanque1.Fin= 3*'m^3/h'; |
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| 135 | else |
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| 136 | Tanque1.Fin= 1.5*'m^3/h'; |
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| 137 | end |
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| 138 | |
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| 139 | INITIAL |
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| 140 | "altura inicial" |
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| 141 | Tanque1.h = 0.2 * 'm'; |
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| 142 | |
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| 143 | OPTIONS |
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| 144 | TimeStep = 0.1; |
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| 145 | TimeEnd = 30; |
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| 146 | TimeUnit = 'h'; |
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| 147 | end |
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| 148 | |
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| 149 | |
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| 150 | |
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