| 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 190 2007-03-07 18:09:13Z 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 | PID as PIDIncr_Ideal_AWBT; |
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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 | |
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| 48 | EQUATIONS |
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| 49 | PID.Parameters.tau = 1*'s'; |
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| 50 | PID.Parameters.tauSet = 1*'s'; |
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| 51 | PID.Parameters.alpha = 0.3; |
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| 52 | PID.Parameters.bias = 0; |
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| 53 | PID.Parameters.gamma = 1; |
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| 54 | PID.Parameters.beta = 1; |
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| 55 | PID.Options.action = -1; |
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| 56 | PID.Options.clip=1; |
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| 57 | PID.Options.autoMan = 0; |
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| 58 | PID.Parameters.intTime=5000*'s'; |
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| 59 | PID.Parameters.gain = 3.5; |
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| 60 | PID.Parameters.derivTime=1*'s'; |
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| 61 | PID.Ports.input = h_ad; |
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| 62 | h_ad = (Tanque1.h-h_min)/(h_max-h_min); |
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| 63 | Tanque1.k = 8*'m^2.5/h'*PID.Ports.output; |
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| 64 | |
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| 65 | #Perturbação servo |
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| 66 | #Nível desejado=1*'m' |
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| 67 | PID.Ports.setPoint=0.5; |
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| 68 | |
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| 69 | #Perturbação regulatória |
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| 70 | if time<10*"h" then |
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| 71 | Tanque1.Fin= 3*'m^3/h'; |
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| 72 | else |
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| 73 | Tanque1.Fin= 1.5*'m^3/h'; |
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| 74 | end |
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| 75 | |
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| 76 | INITIAL |
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| 77 | "altura inicial" |
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| 78 | Tanque1.h = 0.2 * 'm'; |
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| 79 | |
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| 80 | OPTIONS |
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| 81 | DAESolver = "dassl"; |
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| 82 | TimeStep = 0.1; |
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| 83 | TimeEnd = 30; |
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| 84 | TimeUnit = 'h'; |
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| 85 | end |
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| 86 | |
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| 87 | FlowSheet Tanque |
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| 88 | DEVICES |
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| 89 | Tanque1 as tank; |
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| 90 | PID as PID_Ideal_AWBT; |
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| 91 | |
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| 92 | PARAMETERS |
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| 93 | h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m'); |
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| 94 | h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m'); |
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| 95 | |
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| 96 | VARIABLES |
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| 97 | h_ad as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1); |
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| 98 | |
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| 99 | CONNECTIONS |
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| 100 | |
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| 101 | SET |
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| 102 | Tanque1.A = 8 * 'm^2'; |
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| 103 | h_max = 2 * 'm'; |
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| 104 | h_min = 0 * 'm'; |
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| 105 | |
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| 106 | EQUATIONS |
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| 107 | PID.Parameters.tau = 1*'s'; |
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| 108 | PID.Parameters.tauSet = 1*'s'; |
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| 109 | PID.Parameters.alpha = 0.3; |
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| 110 | PID.Parameters.bias = 0; |
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| 111 | PID.Parameters.gamma = 1; |
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| 112 | PID.Parameters.beta = 1; |
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| 113 | PID.Parameters.intTime=5000*'s'; |
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| 114 | PID.Parameters.gain =3.5; |
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| 115 | PID.Parameters.derivTime=1*'s'; |
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| 116 | PID.Options.action = -1; |
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| 117 | PID.Options.clip=1; |
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| 118 | PID.Options.autoMan = 0; |
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| 119 | PID.Ports.input = h_ad; |
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| 120 | h_ad = (Tanque1.h-h_min)/(h_max-h_min); |
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| 121 | Tanque1.k = 8*'m^2.5/h'*PID.Ports.output; |
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| 122 | |
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| 123 | #Perturbação servo |
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| 124 | #Nível desejado=1*'m' |
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| 125 | PID.Ports.setPoint=0.5; |
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| 126 | |
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| 127 | #Perturbação regulatória |
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| 128 | if time<10*"h" then |
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| 129 | Tanque1.Fin= 3*'m^3/h'; |
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| 130 | else |
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| 131 | Tanque1.Fin= 1.5*'m^3/h'; |
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| 132 | end |
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| 133 | |
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| 134 | INITIAL |
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| 135 | "altura inicial" |
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| 136 | Tanque1.h = 0.2 * 'm'; |
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| 137 | |
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| 138 | OPTIONS |
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| 139 | NLASolver = "sundials"; |
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| 140 | TimeStep = 0.1; |
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| 141 | TimeEnd = 30; |
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| 142 | TimeUnit = 'h'; |
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| 143 | end |
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| 144 | |
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| 145 | |
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| 146 | |
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