source: trunk/eml/controllers/PIDs.mso @ 659

Last change on this file since 659 was 354, checked in by Argimiro Resende Secchi, 16 years ago

Fixing more wiki notation.
  • Property svn:eol-style set to native
  • Property svn:keywords set to Id
File size: 10.0 KB
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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* Author: Tiago Osório
16* $Id: PIDs.mso 354 2007-08-30 17:17:16Z arge $
17*-------------------------------------------------------------------*#
18using "types";
19
20Model MParameters
21
22ATTRIBUTES
23        Pallete         = false;
24        Brief           = "Model of Parameters to be used with PIDs.";
25       
26        VARIABLES
27       
28        alpha      as positive (Brief="Derivative term filter constant", Default=1);
29        beta       as positive (Brief="Proportional term setPoint change filter");
30        bias       as control_signal (Brief="Previous scaled bias", Default=0.5);
31        derivTime  as time_sec (Brief="Derivative time constant");
32        intTime    as time_sec (Brief="Integral time constant");
33        gain       as positive (Brief="Controller gain", Default=0.5);
34        gamma      as positive (Brief="Derivative term SP change filter");
35        tau        as time_sec (Brief="Input filter time constant");
36        tauSet     as time_sec (Brief="Input filter time constant");
37
38end
39
40Model MOptions 
41
42ATTRIBUTES
43        Pallete         = false;
44        Brief           = "Model of Options to be used with PIDs.";
45       
46        VARIABLES       
47       
48        action     as Real     (Brief="Controller action: (-1) Direct,(1) Reverse", Default=-1);
49    autoMan    as Real     (Brief="Controller option: (0) Automatic, (1) Manual", Default=0);   
50        clip       as Real     (Brief="Controller option: (1) output clipped, (0) output unclipped", Default=1);
51
52end
53
54Model MPorts
55
56ATTRIBUTES
57        Pallete         = false;
58        Brief           = "Model of Ports to be used with PIDs.";
59       
60        VARIABLES
61       
62        input      as control_signal (Brief="Previous scaled input signal", Default=0.5);
63        output     as control_signal (Brief="Scaled output signal", Default=0.5);
64        setPoint   as control_signal (Brief="Scaled setPoint",Default=0.5);
65
66end
67
68Model MInternal_Variables
69       
70        ATTRIBUTES
71        Pallete         = false;
72        Brief           = "Model of Internal Variables to be used with PIDs.";
73       
74        VARIABLES
75
76        derivTerm  as control_signal (Brief="Derivative term", Default=0);
77        dFilt      as control_signal (Brief="Derivative term filtered", Default=0.5);
78        error      as control_signal (Brief="Error definition for proportional term");
79        errorD     as control_signal (Brief="Error definition for derivative term");
80        errorI     as control_signal (Brief="Error definition for integral term");
81        inputFilt  as control_signal (Brief="Filtered input");
82        intTerm    as control_signal (Brief="Integral term", Default=0);
83        outp       as control_signal (Brief="Sum of proportional, integral and derivative terms");
84        outps      as control_signal (Brief="Variable outp scaled between -1 and 1");
85        propTerm   as control_signal (Brief="Proportional term", Default=0);
86        setPointFilt  as control_signal (Brief="Filtered setPoint", Default=0);
87
88end
89
90Model PID
91
92ATTRIBUTES
93        Pallete         = true;
94        Icon            = "icon/PID";
95        Brief           = "Model of PIDs.";
96        Info            =
97"== Inputs ==
98* scaled processs variable.
99* scaled bias.
100* scaled setpoint.
101
102== Outputs ==
103* scaled output.
104";
105       
106        PARAMETERS
107        PID_Select as Switcher (Brief="Type of PID", Valid=["Ideal","Parallel","Series","Ideal_AWBT","Parallel_AWBT","Series_AWBT","Ideal_AW","Parallel_AW","Series_AW"], Default = "Ideal");
108       
109        VARIABLES
110        Parameters         as MParameters;
111        Options            as MOptions;
112        Internal           as MInternal_Variables;
113        Ports              as MPorts;
114        AWFactor     as Real     (Brief="Integral term multiplier used in anti-reset windup");
115       
116        INITIAL
117        Internal.intTerm = 0;
118        diff(Internal.dFilt) = 0/'s';
119        diff(Internal.inputFilt) = 0/'s';
120        diff(Internal.setPointFilt) = 0/'s';
121       
122        EQUATIONS
123
124        if (Parameters.tau equal 0) then
125                "Input first order filter"
126                (Parameters.tau + 1e-3*'s')*diff(Internal.inputFilt)= Ports.input - Internal.inputFilt;
127        else
128                "Input first order filter"
129                Parameters.tau*diff(Internal.inputFilt)= Ports.input - Internal.inputFilt;     
130        end
131
132        if (Parameters.tauSet equal 0) then
133                "setPoint first order filter"
134                (Parameters.tauSet + 1e-3*'s')*diff(Internal.setPointFilt)= Ports.setPoint - Internal.setPointFilt;
135        else
136                "setPoint first order filter"
137                Parameters.tauSet*diff(Internal.setPointFilt)= Ports.setPoint - Internal.setPointFilt;
138        end
139       
140        if Options.autoMan equal 1 then
141                "Error definition for proportional term"
142                Internal.error = Internal.inputFilt*(Parameters.beta-1.0);
143                "Error definition for derivative term"
144                Internal.errorD= Internal.inputFilt*(Parameters.gamma-1.0);
145                "Error definition for integral term"           
146                Internal.errorI= 0;
147        else
148                "Error definition for proportional term"                       
149                Internal.error = Parameters.beta*Internal.setPointFilt - Internal.inputFilt;
150                "Error definition for derivative term"
151                Internal.errorD = Parameters.gamma*Internal.setPointFilt - Internal.inputFilt;
152                "Error definition for integral term"
153                Internal.errorI = Internal.setPointFilt-Internal.inputFilt;
154        end
155       
156        "Calculate proportional term"
157        Internal.propTerm=Internal.error;
158       
159        if (Parameters.derivTime equal 0) then
160                "Derivative term filter"       
161                Parameters.alpha*(Parameters.derivTime + 1e-3*'s')*diff(Internal.dFilt) = Internal.errorD - Internal.dFilt;
162        else
163                "Derivative term filter"       
164                Parameters.alpha*(Parameters.derivTime)*diff(Internal.dFilt) = Internal.errorD - Internal.dFilt;
165        end
166
167        "Calculate derivative term"
168        Internal.derivTerm = Parameters.derivTime*diff(Internal.dFilt);
169       
170        "Scale outp"
171        Internal.outps=2*Internal.outp-1;
172       
173        if Options.clip equal 1 then
174                if abs(Internal.outps)>1 then
175                        "Calculate clipped output when it´s saturated"
176                        Ports.output=(sign(Internal.outps)*1+1)/2;
177                else
178                        "Calculate clipped output when it´s not saturated"
179                        Ports.output=Internal.outp;
180                end
181        else
182                "Calculate unclipped output"
183                Ports.output=Internal.outp;
184        end
185
186switch PID_Select
187       
188case "Ideal_AW":
189       
190        "Calculate integral term with anti-windup"
191        Parameters.intTime*diff(Internal.intTerm) = AWFactor*Internal.errorI;
192       
193        "Sum of proportional, integral and derivative terms"
194        Internal.outp = Parameters.bias + Options.action*Parameters.gain*(Internal.propTerm + Internal.intTerm + Internal.derivTerm);
195
196        if abs(Internal.outps)>1 and (Options.action*sign(Internal.outps)*Internal.errorI)>0 then
197                "Calculate AWFactor"
198                AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102);
199        else
200                "Calculate AWFactor"
201                AWFactor=1;
202        end
203
204case "Parallel_AW":
205       
206        "Calculate integral term with anti-windup"
207        Parameters.intTime*diff(Internal.intTerm) = AWFactor*Internal.errorI;
208       
209        "Sum of proportional, integral and derivative terms"
210        Internal.outp = Parameters.bias + Options.action*(Parameters.gain*Internal.propTerm + Internal.intTerm + Internal.derivTerm);
211
212        if abs(Internal.outps)>1 and (Options.action*sign(Internal.outps)*Internal.errorI)>0 then
213                "Calculate AWFactor"
214                AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102);
215        else
216                "Calculate AWFactor"
217                AWFactor=1;
218        end
219
220
221case "Series_AW":
222
223        "Calculate integral term with anti-windup"     
224        Parameters.intTime*diff(Internal.intTerm) = AWFactor*Internal.errorI;
225       
226        "Sum of proportional, integral and derivative terms"
227        Internal.outp = Parameters.bias + Options.action*(Parameters.gain*(Internal.propTerm + Internal.intTerm)*(1 + Internal.derivTerm));
228
229        if abs(Internal.outps)>1 and (Options.action*sign(Internal.outps)*Internal.errorI)>0 then
230                "Calculate AWFactor"           
231                AWFactor=-tanh(sign(Internal.outps)*Internal.outps*100-102);
232        else
233                "Calculate AWFactor"
234                AWFactor=1;
235        end
236
237case "Ideal":
238       
239        "Calculate integral term"       
240        Parameters.intTime*diff(Internal.intTerm) = Internal.errorI;
241       
242        "Sum of proportional, integral and derivative terms"   
243        Internal.outp = Parameters.bias + Options.action*Parameters.gain*(Internal.propTerm + Internal.intTerm + Internal.derivTerm);
244
245        "Calculate AWFactor - Not in use in this mode"
246        AWFactor=1;
247       
248case "Parallel":
249       
250        "Calculate integral term"       
251        Parameters.intTime*diff(Internal.intTerm) = Internal.errorI;
252       
253        "Sum of proportional, integral and derivative terms"   
254        Internal.outp = Parameters.bias + Options.action*(Parameters.gain*Internal.propTerm + Internal.intTerm + Internal.derivTerm);
255
256        "Calculate AWFactor - Not in use in this mode"
257        AWFactor=1;
258       
259case "Series":
260       
261        "Calculate integral term"       
262        Parameters.intTime*diff(Internal.intTerm) = Internal.errorI;
263       
264        "Sum of proportional, integral and derivative terms"
265        Internal.outp = Parameters.bias + Options.action*(Parameters.gain*(Internal.propTerm + Internal.intTerm)*(1 + Internal.derivTerm));
266       
267        "Calculate AWFactor - Not in use in this mode"
268        AWFactor=1;
269       
270case "Ideal_AWBT":
271       
272        "Calculate integral term with anti-windup and bumpless transfer"       
273        Options.action*Parameters.gain*(Parameters.intTime*diff(Internal.intTerm)-Internal.errorI) = Ports.output-Internal.outp;       
274       
275        "Sum of proportional, integral and derivative terms"   
276        Internal.outp = Parameters.bias + Options.action*Parameters.gain*(Internal.propTerm + Internal.intTerm + Internal.derivTerm);
277       
278        "Calculate AWFactor - Not in use in this mode"
279        AWFactor=1;
280       
281case "Parallel_AWBT":
282       
283        "Calculate integral term with anti-windup and bumpless transfer"       
284        Options.action*Parameters.gain*(Parameters.intTime*diff(Internal.intTerm)-Internal.errorI) = Ports.output-Internal.outp;       
285       
286        "Sum of proportional, integral and derivative terms"   
287        Internal.outp = Parameters.bias + Options.action*(Parameters.gain*Internal.propTerm + Internal.intTerm + Internal.derivTerm);
288       
289        "Calculate AWFactor - Not in use in this mode"
290        AWFactor=1;
291       
292case "Series_AWBT":
293       
294        "Calculate integral term with anti-windup and bumpless transfer"
295        Options.action*Parameters.gain*(Parameters.intTime*diff(Internal.intTerm)-Internal.errorI) = Ports.output-Internal.outp;       
296       
297        "Sum of proportional, integral and derivative terms"
298        Internal.outp = Parameters.bias + Options.action*(Parameters.gain*(Internal.propTerm + Internal.intTerm)*(1 + Internal.derivTerm));
299
300        "Calculate AWFactor - Not in use in this mode"
301        AWFactor=1;
302       
303end
304
305end
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