| 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 is distributed under the terms of the ALSOC LICENSE as |
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| 9 | * available at http://www.enq.ufrgs.br/alsoc. |
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| 10 | *----------------------------------------------------------------------- |
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| 11 | * Author: Jonathan Ospino P. |
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| 12 | * $Id: PID_id.mso 2012$ |
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| 13 | *---------------------------------------------------------------------*# |
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| 14 | |
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| 15 | using "types"; |
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| 16 | |
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| 17 | Model PID_id |
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| 18 | |
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| 19 | ATTRIBUTES |
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| 20 | |
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| 21 | Pallete=true; |
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| 22 | Icon="icon/PID"; |
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| 23 | Info="== PID Controller block =="; |
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| 24 | |
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| 25 | PARAMETERS |
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| 26 | |
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| 27 | #Controller Options |
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| 28 | Controller_Mode as Switcher(Valid=["P","I","D","PI","PD","PID"],Default="PID"); |
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| 29 | |
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| 30 | # PID Parameters |
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| 31 | Kc as Real(Brief="Proportional controller gain"); |
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| 32 | TauI as Real(Brief="Integral or reset time",Unit='s'); |
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| 33 | TauD as Real(Brief="Derivative time",Unit='s'); |
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| 34 | N as Real(Brief="Filter parameter",Unit='1/s', Default=200); |
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| 35 | |
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| 36 | |
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| 37 | VARIABLES |
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| 38 | |
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| 39 | in e as Real(Brief="Deviation error",Protected=true,PosX=0,PosY=0.5); |
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| 40 | Inte as Real(Brief="Integral of the error",Hidden=true,Unit='s'); |
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| 41 | ef as Real(Brief="Derivative error filter",Hidden=true); |
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| 42 | |
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| 43 | P as Real(Brief="Proportional action",Hidden=true); |
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| 44 | I as Real(Brief="Integral or reset action",Hidden=true); |
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| 45 | D as Real(Brief="Final Derivative or anticipative action",Hidden=true); |
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| 46 | out m as Real(Brief="Controller Output",PosX=1, PosY=0.5,Protected=true); |
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| 47 | |
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| 48 | |
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| 49 | EQUATIONS |
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| 50 | |
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| 51 | "Integral of the error" |
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| 52 | diff(Inte)=e; |
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| 53 | |
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| 54 | "Proportional action" |
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| 55 | P=Kc*e; |
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| 56 | |
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| 57 | "Integral or reset action" |
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| 58 | I=Kc*(Inte/TauI); |
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| 59 | |
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| 60 | "Derivative or anticipative action" |
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| 61 | D=Kc*TauD*diff(ef); |
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| 62 | |
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| 63 | "Error filter" |
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| 64 | (1/N)*diff(ef)=e-ef; |
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| 65 | |
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| 66 | #PID Controller equation |
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| 67 | switch Controller_Mode |
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| 68 | case "P": |
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| 69 | m=P; |
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| 70 | case "I": |
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| 71 | m=I; |
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| 72 | case "D": |
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| 73 | m=D; |
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| 74 | case "PI": |
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| 75 | m=P+I; |
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| 76 | case "PID": |
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| 77 | m=P+I+D; |
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| 78 | case "PD": |
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| 79 | m=P+D; |
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| 80 | end |
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| 81 | |
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| 82 | |
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| 83 | INITIAL |
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| 84 | |
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| 85 | Inte=0*'s'; |
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| 86 | diff(ef)*'s'=0; |
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| 87 | # ef=0; |
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| 88 | end |
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| 89 | |
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| 90 | |
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| 91 | #* |
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| 92 | Notes: |
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| 93 | |
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| 94 | (1) A simple derivative-filtered approach as in Simulink was implemented. |
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| 95 | |
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| 96 | (2) The controller modes I and D were added for analysis purposes. |
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| 97 | |
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| 98 | |
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| 99 | Revision Date: 02.09.2013 |
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| 100 | |
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| 101 | *# |
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