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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