source: branches/newlanguage/eml/controllers/PIDIncr.mso @ 123

Last change on this file since 123 was 74, checked in by Paula Bettio Staudt, 16 years ago

Updated controllers files header

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1#*-------------------------------------------------------------------
2* EMSO Model Library (EML) Copyright (C) 2004 - 2007 ALSOC.
3*
4* This LIBRARY is free software; you can distribute it and/or modify
5* it under the therms of the ALSOC FREE LICENSE as available at
6* http://www.enq.ufrgs.br/alsoc.
7*
8* EMSO Copyright (C) 2004 - 2007 ALSOC, original code
9* from http://www.rps.eng.br Copyright (C) 2002-2004.
10* All rights reserved.
11*
12* EMSO is distributed under the therms of the ALSOC LICENSE as
13* available at http://www.enq.ufrgs.br/alsoc.
14*
15*-------------------------------------------------------------------
16* Model of incremental PIDs
17*--------------------------------------------------------------------
18*  - Inputs
19*       - a scaled processs variable
20*       - a scaled bias
21*       - a scaled setpoint
22*
23*  - Outputs
24*   - a scaled output
25*
26*
27*--------------------------------------------------------------------
28* Author: Tiago Osório
29* $Id: PIDIncr.mso 74 2006-12-08 18:43:02Z paula $
30*-------------------------------------------------------------------*#
31using "types";
32
33Model MParameters
34
35        VARIABLES
36       
37        alpha      as positive (Brief="Derivative term filter constant", Default=1);
38        beta       as positive (Brief="Proportional term setPoint change filter");
39        bias       as control_signal (Brief="Previous scaled bias", Default=0.5);
40        derivTime  as time_sec (Brief="Derivative time constant");
41        intTime    as time_sec (Brief="Integral time constant");
42        gain       as positive (Brief="Controller gain", Default=0.5);
43        gamma      as positive (Brief="Derivative term SP change filter");
44        tau        as time_sec (Brief="Input filter time constant");
45        tauSet     as time_sec (Brief="Input filter time constant");
46       
47end
48
49Model MOptions 
50
51        VARIABLES       
52       
53        action     as Real     (Brief="Controller action: (-1) Direct,(1) Reverse", Default=-1);
54    autoMan    as Real     (Brief="Controller option: (0) Automatic, (1) Manual", Default=0);   
55        clip       as Real     (Brief="Controller option: (1) output clipped, (0) output unclipped", Default=1);
56
57end
58
59Model MPorts
60
61        VARIABLES
62       
63        input      as control_signal (Brief="Previous scaled input signal", Default=0.5);
64        output    as control_signal (Brief="Scaled output signal", Default=0.5);
65        setPoint   as control_signal (Brief="Scaled setPoint",Default=0.5);
66
67end
68
69Model MInternal_Variables
70       
71        VARIABLES
72
73        dderivTerm    as control_signal (Brief="Derivative term",Unit="1/s", Default=0);
74        dFilt         as control_signal (Brief="Derivative term filtered", Default=0.5,Unit="1/s");
75        error         as control_signal (Brief="Error definition for proportional term",Unit="1/s");
76        errorD        as control_signal (Brief="Error definition for derivative term",Unit="1/s");
77        errorI        as control_signal (Brief="Error definition for integral term");
78        inputFilt     as control_signal (Brief="Filtered input");
79        dintTerm      as control_signal (Brief="Integral term", Default=0,Unit="1/s");
80        doutp         as control_signal (Brief="Sum of proportional, integral and derivative terms",Unit="1/s");
81        outps         as control_signal (Brief="Variable outp scaled between -1 and 1");
82        outp          as control_signal (Brief="Variable outp");
83        dpropTerm     as control_signal (Brief="Proportional term", Default=0,Unit="1/s");
84        setPointFilt  as control_signal (Brief="Filtered setPoint", Default=0);
85
86end
87
88Model PIDIncr_basic
89
90        VARIABLES
91        Parameters         as MParameters;
92        Options            as MOptions;
93        Internal           as MInternal_Variables;
94        Ports              as MPorts;
95       
96        EQUATIONS
97
98        if (Parameters.tau equal 0) then
99                "Input first order filter"
100                (Parameters.tau + 1e-3*"s")*diff(Internal.inputFilt)= Ports.input - Internal.inputFilt;
101        else
102                "Input first order filter"
103                Parameters.tau*diff(Internal.inputFilt)= Ports.input - Internal.inputFilt;     
104        end
105
106        if (Parameters.tauSet equal 0) then
107                "setPoint first order filter"
108                (Parameters.tauSet + 1e-3*"s")*diff(Internal.setPointFilt)= Ports.setPoint - Internal.setPointFilt;
109        else
110                "setPoint first order filter"
111                Parameters.tauSet*diff(Internal.setPointFilt)= Ports.setPoint - Internal.setPointFilt;
112        end
113
114        if Options.autoMan equal 1 then
115                "Error definition for proportional term"
116                Internal.error*"s" = Internal.inputFilt*(Parameters.beta-1.0);
117                "Error definition for derivative term"
118                Internal.errorD*"s"= Internal.inputFilt*(Parameters.gamma-1.0);
119                "Error definition for integral term"           
120                Internal.errorI= 0;
121        else
122                "Error definition for proportional term"                       
123                Internal.error = Parameters.beta*diff(Internal.setPointFilt) - diff(Internal.inputFilt);
124                "Error definition for derivative term"
125                Internal.errorD = Parameters.gamma*diff(Internal.setPointFilt) - diff(Internal.inputFilt);
126                "Error definition for integral term"
127                Internal.errorI = Internal.setPointFilt-Internal.inputFilt;     
128        end
129       
130        "Calculate proportional term"
131        Internal.dpropTerm=Internal.error; 
132       
133        if (Parameters.derivTime equal 0) then
134                "Derivative term filter"       
135                Parameters.alpha*(Parameters.derivTime + 1e-3*"s")*diff(Internal.dFilt) = Internal.errorD - Internal.dFilt;
136        else
137                "Derivative term filter"       
138                Parameters.alpha*(Parameters.derivTime)*diff(Internal.dFilt) = Internal.errorD - Internal.dFilt;
139        end
140
141        "Calculate derivative term"
142        Internal.dderivTerm = Parameters.derivTime*diff(Internal.dFilt);
143       
144    "Unscaled output"
145        diff(Internal.outp)=Internal.doutp;
146
147        "Scale outp"
148        Internal.outps=2*Internal.outp-1;
149
150        if Options.clip equal 1 then
151                if abs(Internal.outps)>1 then
152                        "Calculate clipped output when it´s saturated"
153                        Ports.output=(sign(Internal.outps)*1+1)/2;
154                else
155                        "Calculate clipped output when it´s not saturated"
156                        Ports.output=Internal.outp;
157                end
158        else
159                "Calculate unclipped output"
160                Ports.output=Internal.outp;
161        end
162
163        INITIAL
164        Ports.output = Parameters.bias;
165        diff(Internal.dFilt) = 0*"1/s^2";
166        diff(Internal.inputFilt)=0*"1/s";
167        diff(Internal.setPointFilt)=0*"1/s";
168end
169
170Model PIDIncr_Ideal as PIDIncr_basic
171       
172        EQUATIONS
173       
174        "Calculate integral term"
175        Parameters.intTime*Internal.dintTerm = Internal.errorI;
176       
177        "Sum of proportional, integral and derivative terms"
178        Internal.doutp = Options.action*Parameters.gain*(Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm);
179
180end
181
182Model PIDIncr_Parallel as PIDIncr_basic
183       
184        EQUATIONS
185       
186        "Calculate integral term"
187        Parameters.intTime*Internal.dintTerm = Internal.errorI;
188       
189        "Sum of proportional, integral and derivative terms"
190        Internal.doutp = Options.action*(Parameters.gain*Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm);
191
192end
193
194Model PIDIncr_Series as PIDIncr_basic
195       
196        EQUATIONS
197
198        "Calculate integral term"
199        Parameters.intTime*Internal.dintTerm = Internal.errorI;
200       
201        "Sum of proportional, integral and derivative terms"
202        Internal.doutp = Options.action*(Parameters.gain*(Internal.dpropTerm + Internal.dintTerm)*(1*"1/s" + Internal.dderivTerm)*"s");
203       
204end
205
206Model PIDIncr_Ideal_AWBT as PIDIncr_basic
207       
208        EQUATIONS
209       
210        "Calculate integral term with anti-windup and bumpless transfer"
211        Options.action*Parameters.gain*(Parameters.intTime*Internal.dintTerm-Internal.errorI) = Ports.output-Internal.outp;
212
213        "Sum of proportional, integral and derivative terms"
214        Internal.doutp = Options.action*Parameters.gain*(Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm);
215
216end
217
218Model PIDIncr_Parallel_AWBT as PIDIncr_basic
219       
220        EQUATIONS
221       
222        "Calculate integral term with anti-windup and bumpless transfer"
223        Options.action*Parameters.gain*(Parameters.intTime*Internal.dintTerm-Internal.errorI) = Ports.output-Internal.outp;
224       
225        "Sum of proportional, integral and derivative terms"
226        Internal.doutp = Options.action*(Parameters.gain*Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm);
227
228end
229
230Model PIDIncr_Series_AWBT as PIDIncr_basic
231       
232        EQUATIONS
233       
234        "Calculate integral term with anti-windup and bumpless transfer"
235        Options.action*Parameters.gain*(Parameters.intTime*Internal.dintTerm-Internal.errorI) = Ports.output-Internal.outp;
236
237        "Sum of proportional, integral and derivative terms"
238        Internal.doutp = Options.action*(Parameters.gain*(Internal.dpropTerm + Internal.dintTerm)*(1*"1/s" + Internal.dderivTerm)*"s");
239
240end
241
242Model PIDIncr_Ideal_AW as PIDIncr_basic
243       
244        VARIABLES
245        AWFactor     as Real     (Brief="Integral term multiplier used in anti-reset windup");
246
247        EQUATIONS
248
249        "Calculate integral term with anti-windup"
250        Parameters.intTime*Internal.dintTerm = AWFactor*Internal.errorI;
251       
252        "Sum of proportional, integral and derivative terms"
253        Internal.doutp = Options.action*Parameters.gain*(Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm);
254       
255
256        if abs(Internal.outps)>1 and (Options.action*sign(Internal.outps)*Internal.errorI)>0 then
257                "Calculate AWFactor"
258                AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102);
259        else
260                "Calculate AWFactor"
261                AWFactor=1;
262        end
263
264end
265
266Model PIDIncr_Parallel_AW as PIDIncr_basic
267       
268        VARIABLES
269        AWFactor     as Real     (Brief="Integral term multiplier used in anti-reset windup");
270
271        EQUATIONS
272
273        "Calculate integral term with anti-windup"
274        Parameters.intTime*Internal.dintTerm = AWFactor*Internal.errorI;
275       
276        "Sum of proportional, integral and derivative terms"
277        Internal.doutp = Options.action*(Parameters.gain*Internal.dpropTerm + Internal.dintTerm + Internal.dderivTerm);
278       
279        if abs(Internal.outps)>1 and (Options.action*sign(Internal.outps)*Internal.errorI)>0 then
280                "Calculate AWFactor"
281                AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102);
282        else
283                "Calculate AWFactor"
284                AWFactor=1;
285        end
286
287end
288
289Model PIDIncr_Series_AW as PIDIncr_basic
290       
291        VARIABLES
292        AWFactor     as Real     (Brief="Integral term multiplier used in anti-reset windup");
293
294        EQUATIONS
295
296        "Calculate integral term with anti-windup"
297        Parameters.intTime*Internal.dintTerm = AWFactor*Internal.errorI;
298       
299        "Sum of proportional, integral and derivative terms"
300        Internal.doutp = Options.action*(Parameters.gain*(Internal.dpropTerm + Internal.dintTerm)*(1*"1/s" + Internal.dderivTerm)*"s");
301       
302        if abs(Internal.outps)>1 and (Options.action*sign(Internal.outps)*Internal.errorI)>0 then
303                "Calculate AWFactor"
304                AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102);
305        else
306                "Calculate AWFactor"
307                AWFactor=1;
308        end
309
310end
311
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