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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