source: trunk/sample/controllers/sample_tanks_pid.mso @ 900

#*-------------------------------------------------------------------
* EMSO Model Library (EML) Copyright (C) 2004 - 2007 ALSOC.
*
* This LIBRARY is free software; you can distribute it and/or modify
* it under the therms of the ALSOC FREE LICENSE as available at
* http://www.enq.ufrgs.br/alsoc.
*
* EMSO Copyright (C) 2004 - 2007 ALSOC, original code
* from http://www.rps.eng.br Copyright (C) 2002-2004.
* All rights reserved.
*
* EMSO is distributed under the therms of the ALSOC LICENSE as
* available at http://www.enq.ufrgs.br/alsoc.
*
*
*-------------------------------------------------------------------
* Sample file for tanks level control
*
*-------------------------------------------------------------------
* Author: Tiago Osório
* $Id: sample_tanks_pid.mso 481 2008-03-11 12:18:21Z rafael $
*-----------------------------------------------------------------*#

using "tanksmodel";
using "controllers/PIDs";
using "controllers/PIDIncr";


FlowSheet Tanque_inc
        DEVICES
        Tanque1 as tank;
        PIDc     as PIDIncr;
        
        PARAMETERS      
        h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m');
        h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m');

    VARIABLES
        h_ad  as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1);

        CONNECTIONS
        
        SET
        Tanque1.A = 8 * 'm^2';
        h_max = 2 * 'm';
        h_min = 0 * 'm';
        PIDc.PID_Select = "Ideal_AWBT";
        
        EQUATIONS
        PIDc.Parameters.tau = 1*'s';    
        PIDc.Parameters.tauSet = 1*'s'; 
        PIDc.Parameters.alpha = 0.3;
        PIDc.Parameters.bias = 0;       
        PIDc.Parameters.gamma = 1;
        PIDc.Parameters.beta = 1;
        PIDc.Options.action = -1;
        PIDc.Options.clip=1;
        PIDc.Options.autoMan = 0;
        PIDc.Parameters.intTime=5000*'s';
        PIDc.Parameters.gain = 3.5;
        PIDc.Parameters.derivTime=1*'s';
        PIDc.Ports.input = h_ad;
        h_ad = (Tanque1.h-h_min)/(h_max-h_min);
        Tanque1.k = 8*'m^2.5/h'*PIDc.Ports.output;      

        #Perturbação servo
        #Nível desejado=1*'m'
        PIDc.Ports.setPoint=0.5;

        #Perturbação regulatória
        if time<10*'h' then
                Tanque1.Fin= 3*'m^3/h';
        else
                Tanque1.Fin= 1.5*'m^3/h';
        end     
        
        INITIAL
        "altura inicial"
        Tanque1.h = 0.2 * 'm';
        
        OPTIONS
        TimeStep = 0.1;
        TimeEnd = 30;
        TimeUnit = 'h';
end

FlowSheet Tanque
        DEVICES
        Tanque1 as tank;
        PIDx     as PID;
        
        PARAMETERS      
        h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m');
        h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m');

    VARIABLES
        h_ad  as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1);

        CONNECTIONS
        
        SET
        Tanque1.A = 8 * 'm^2';
        h_max = 2 * 'm';
        h_min = 0 * 'm';
        PIDx.PID_Select = "Ideal_AWBT";
        
        EQUATIONS
        PIDx.Parameters.tau = 1*'s';    
    PIDx.Parameters.tauSet = 1*'s';     
        PIDx.Parameters.alpha = 0.3;
        PIDx.Parameters.bias = 0;
        PIDx.Parameters.gamma = 1;
        PIDx.Parameters.beta = 1;
        PIDx.Parameters.intTime=5000*'s';
        PIDx.Parameters.gain =3.5;
        PIDx.Parameters.derivTime=1*'s';
        PIDx.Options.action = -1;
        PIDx.Options.clip=1;
        PIDx.Options.autoMan = 0;
        PIDx.Ports.input = h_ad;
        h_ad = (Tanque1.h-h_min)/(h_max-h_min);
        Tanque1.k = 8*'m^2.5/h'*PIDx.Ports.output;      

        #Perturbação servo
        #Nível desejado=1*'m'
        PIDx.Ports.setPoint=0.5;

        #Perturbação regulatória
        if time<10*'h' then
                Tanque1.Fin= 3*'m^3/h';
        else
                Tanque1.Fin= 1.5*'m^3/h';
        end
        
        INITIAL
        "altura inicial"
        Tanque1.h = 0.2 * 'm';
        
        OPTIONS
        TimeStep = 0.1;
        TimeEnd = 30;
        TimeUnit = 'h';
end