| 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 | * |
|---|
| 16 | *------------------------------------------------------------------- |
|---|
| 17 | * Sample file for tanks level control |
|---|
| 18 | * |
|---|
| 19 | *------------------------------------------------------------------- |
|---|
| 20 | * Author: Tiago Osório |
|---|
| 21 | * $Id: sample_tanks_pid.mso 295 2007-06-21 19:48:17Z bicca $ |
|---|
| 22 | *-----------------------------------------------------------------*# |
|---|
| 23 | |
|---|
| 24 | using "tanksmodel"; |
|---|
| 25 | using "controllers/PIDs"; |
|---|
| 26 | using "controllers/PIDIncr"; |
|---|
| 27 | |
|---|
| 28 | |
|---|
| 29 | FlowSheet Tanque_inc |
|---|
| 30 | DEVICES |
|---|
| 31 | Tanque1 as tank; |
|---|
| 32 | PIDc as PIDIncr; |
|---|
| 33 | |
|---|
| 34 | PARAMETERS |
|---|
| 35 | h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m'); |
|---|
| 36 | h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m'); |
|---|
| 37 | |
|---|
| 38 | VARIABLES |
|---|
| 39 | h_ad as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1); |
|---|
| 40 | |
|---|
| 41 | CONNECTIONS |
|---|
| 42 | |
|---|
| 43 | SET |
|---|
| 44 | Tanque1.A = 8 * 'm^2'; |
|---|
| 45 | h_max = 2 * 'm'; |
|---|
| 46 | h_min = 0 * 'm'; |
|---|
| 47 | PIDc.PID_Select = "Ideal_AWBT"; |
|---|
| 48 | |
|---|
| 49 | EQUATIONS |
|---|
| 50 | PIDc.Parameters.tau = 1*'s'; |
|---|
| 51 | PIDc.Parameters.tauSet = 1*'s'; |
|---|
| 52 | PIDc.Parameters.alpha = 0.3; |
|---|
| 53 | PIDc.Parameters.bias = 0; |
|---|
| 54 | PIDc.Parameters.gamma = 1; |
|---|
| 55 | PIDc.Parameters.beta = 1; |
|---|
| 56 | PIDc.Options.action = -1; |
|---|
| 57 | PIDc.Options.clip=1; |
|---|
| 58 | PIDc.Options.autoMan = 0; |
|---|
| 59 | PIDc.Parameters.intTime=5000*'s'; |
|---|
| 60 | PIDc.Parameters.gain = 3.5; |
|---|
| 61 | PIDc.Parameters.derivTime=1*'s'; |
|---|
| 62 | PIDc.Ports.input = h_ad; |
|---|
| 63 | h_ad = (Tanque1.h-h_min)/(h_max-h_min); |
|---|
| 64 | Tanque1.k = 8*'m^2.5/h'*PIDc.Ports.output; |
|---|
| 65 | |
|---|
| 66 | #Perturbação servo |
|---|
| 67 | #Nível desejado=1*'m' |
|---|
| 68 | PIDc.Ports.setPoint=0.5; |
|---|
| 69 | |
|---|
| 70 | #Perturbação regulatória |
|---|
| 71 | if time<10*"h" then |
|---|
| 72 | Tanque1.Fin= 3*'m^3/h'; |
|---|
| 73 | else |
|---|
| 74 | Tanque1.Fin= 1.5*'m^3/h'; |
|---|
| 75 | end |
|---|
| 76 | |
|---|
| 77 | INITIAL |
|---|
| 78 | "altura inicial" |
|---|
| 79 | Tanque1.h = 0.2 * 'm'; |
|---|
| 80 | |
|---|
| 81 | OPTIONS |
|---|
| 82 | DAESolver(File = "dassl"); |
|---|
| 83 | TimeStep = 0.1; |
|---|
| 84 | TimeEnd = 30; |
|---|
| 85 | TimeUnit = 'h'; |
|---|
| 86 | end |
|---|
| 87 | |
|---|
| 88 | FlowSheet Tanque |
|---|
| 89 | DEVICES |
|---|
| 90 | Tanque1 as tank; |
|---|
| 91 | PIDx as PID; |
|---|
| 92 | |
|---|
| 93 | PARAMETERS |
|---|
| 94 | h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m'); |
|---|
| 95 | h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m'); |
|---|
| 96 | |
|---|
| 97 | VARIABLES |
|---|
| 98 | h_ad as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1); |
|---|
| 99 | |
|---|
| 100 | CONNECTIONS |
|---|
| 101 | |
|---|
| 102 | SET |
|---|
| 103 | Tanque1.A = 8 * 'm^2'; |
|---|
| 104 | h_max = 2 * 'm'; |
|---|
| 105 | h_min = 0 * 'm'; |
|---|
| 106 | PIDx.PID_Select = "Ideal_AWBT"; |
|---|
| 107 | |
|---|
| 108 | EQUATIONS |
|---|
| 109 | PIDx.Parameters.tau = 1*'s'; |
|---|
| 110 | PIDx.Parameters.tauSet = 1*'s'; |
|---|
| 111 | PIDx.Parameters.alpha = 0.3; |
|---|
| 112 | PIDx.Parameters.bias = 0; |
|---|
| 113 | PIDx.Parameters.gamma = 1; |
|---|
| 114 | PIDx.Parameters.beta = 1; |
|---|
| 115 | PIDx.Parameters.intTime=5000*'s'; |
|---|
| 116 | PIDx.Parameters.gain =3.5; |
|---|
| 117 | PIDx.Parameters.derivTime=1*'s'; |
|---|
| 118 | PIDx.Options.action = -1; |
|---|
| 119 | PIDx.Options.clip=1; |
|---|
| 120 | PIDx.Options.autoMan = 0; |
|---|
| 121 | PIDx.Ports.input = h_ad; |
|---|
| 122 | h_ad = (Tanque1.h-h_min)/(h_max-h_min); |
|---|
| 123 | Tanque1.k = 8*'m^2.5/h'*PIDx.Ports.output; |
|---|
| 124 | |
|---|
| 125 | #Perturbação servo |
|---|
| 126 | #Nível desejado=1*'m' |
|---|
| 127 | PIDx.Ports.setPoint=0.5; |
|---|
| 128 | |
|---|
| 129 | #Perturbação regulatória |
|---|
| 130 | if time<10*"h" then |
|---|
| 131 | Tanque1.Fin= 3*'m^3/h'; |
|---|
| 132 | else |
|---|
| 133 | Tanque1.Fin= 1.5*'m^3/h'; |
|---|
| 134 | end |
|---|
| 135 | |
|---|
| 136 | INITIAL |
|---|
| 137 | "altura inicial" |
|---|
| 138 | Tanque1.h = 0.2 * 'm'; |
|---|
| 139 | |
|---|
| 140 | OPTIONS |
|---|
| 141 | TimeStep = 0.1; |
|---|
| 142 | TimeEnd = 30; |
|---|
| 143 | TimeUnit = 'h'; |
|---|
| 144 | end |
|---|
| 145 | |
|---|
| 146 | |
|---|
| 147 | |
|---|
