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 Copyright (C) 2004 - 2007 ALSOC, original code |
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9 | * from http://www.rps.eng.br Copyright (C) 2002-2004. |
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10 | * All rights reserved. |
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11 | * |
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12 | * EMSO is distributed under the therms of the ALSOC LICENSE as |
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13 | * available at http://www.enq.ufrgs.br/alsoc. |
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14 | * |
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15 | * |
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16 | *------------------------------------------------------------------- |
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17 | * Sample file for tanks level control |
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18 | * |
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19 | *------------------------------------------------------------------- |
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20 | * Author: Tiago Osório |
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21 | * $Id: sample_tanks_pid.mso 481 2008-03-11 12:18:21Z rafael $ |
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22 | *-----------------------------------------------------------------*# |
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23 | |
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24 | using "tanksmodel"; |
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25 | using "controllers/PIDs"; |
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26 | using "controllers/PIDIncr"; |
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27 | |
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28 | |
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29 | FlowSheet Tanque_inc |
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30 | DEVICES |
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31 | Tanque1 as tank; |
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32 | PIDc as PIDIncr; |
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33 | |
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34 | PARAMETERS |
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35 | h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m'); |
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36 | h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m'); |
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37 | |
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38 | VARIABLES |
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39 | h_ad as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1); |
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40 | |
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41 | CONNECTIONS |
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42 | |
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43 | SET |
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44 | Tanque1.A = 8 * 'm^2'; |
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45 | h_max = 2 * 'm'; |
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46 | h_min = 0 * 'm'; |
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47 | PIDc.PID_Select = "Ideal_AWBT"; |
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48 | |
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49 | EQUATIONS |
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50 | PIDc.Parameters.tau = 1*'s'; |
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51 | PIDc.Parameters.tauSet = 1*'s'; |
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52 | PIDc.Parameters.alpha = 0.3; |
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53 | PIDc.Parameters.bias = 0; |
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54 | PIDc.Parameters.gamma = 1; |
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55 | PIDc.Parameters.beta = 1; |
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56 | PIDc.Options.action = -1; |
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57 | PIDc.Options.clip=1; |
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58 | PIDc.Options.autoMan = 0; |
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59 | PIDc.Parameters.intTime=5000*'s'; |
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60 | PIDc.Parameters.gain = 3.5; |
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61 | PIDc.Parameters.derivTime=1*'s'; |
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62 | PIDc.Ports.input = h_ad; |
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63 | h_ad = (Tanque1.h-h_min)/(h_max-h_min); |
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64 | Tanque1.k = 8*'m^2.5/h'*PIDc.Ports.output; |
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65 | |
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66 | #Perturbação servo |
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67 | #Nível desejado=1*'m' |
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68 | PIDc.Ports.setPoint=0.5; |
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69 | |
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70 | #Perturbação regulatória |
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71 | if time<10*'h' then |
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72 | Tanque1.Fin= 3*'m^3/h'; |
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73 | else |
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74 | Tanque1.Fin= 1.5*'m^3/h'; |
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75 | end |
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76 | |
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77 | INITIAL |
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78 | "altura inicial" |
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79 | Tanque1.h = 0.2 * 'm'; |
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80 | |
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81 | OPTIONS |
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82 | TimeStep = 0.1; |
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83 | TimeEnd = 30; |
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84 | TimeUnit = 'h'; |
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85 | end |
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86 | |
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87 | FlowSheet Tanque |
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88 | DEVICES |
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89 | Tanque1 as tank; |
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90 | PIDx as PID; |
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91 | |
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92 | PARAMETERS |
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93 | h_max as Real (Brief="Altura máxima do nível do tanque", Unit='m'); |
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94 | h_min as Real (Brief="Altura mínima do nível do tanque", Unit='m'); |
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95 | |
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96 | VARIABLES |
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97 | h_ad as Real (Brief="Altura adimensional do nível do tanque", Lower=0,Upper=1); |
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98 | |
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99 | CONNECTIONS |
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100 | |
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101 | SET |
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102 | Tanque1.A = 8 * 'm^2'; |
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103 | h_max = 2 * 'm'; |
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104 | h_min = 0 * 'm'; |
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105 | PIDx.PID_Select = "Ideal_AWBT"; |
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106 | |
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107 | EQUATIONS |
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108 | PIDx.Parameters.tau = 1*'s'; |
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109 | PIDx.Parameters.tauSet = 1*'s'; |
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110 | PIDx.Parameters.alpha = 0.3; |
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111 | PIDx.Parameters.bias = 0; |
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112 | PIDx.Parameters.gamma = 1; |
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113 | PIDx.Parameters.beta = 1; |
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114 | PIDx.Parameters.intTime=5000*'s'; |
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115 | PIDx.Parameters.gain =3.5; |
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116 | PIDx.Parameters.derivTime=1*'s'; |
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117 | PIDx.Options.action = -1; |
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118 | PIDx.Options.clip=1; |
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119 | PIDx.Options.autoMan = 0; |
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120 | PIDx.Ports.input = h_ad; |
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121 | h_ad = (Tanque1.h-h_min)/(h_max-h_min); |
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122 | Tanque1.k = 8*'m^2.5/h'*PIDx.Ports.output; |
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123 | |
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124 | #Perturbação servo |
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125 | #Nível desejado=1*'m' |
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126 | PIDx.Ports.setPoint=0.5; |
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127 | |
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128 | #Perturbação regulatória |
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129 | if time<10*'h' then |
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130 | Tanque1.Fin= 3*'m^3/h'; |
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131 | else |
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132 | Tanque1.Fin= 1.5*'m^3/h'; |
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133 | end |
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134 | |
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135 | INITIAL |
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136 | "altura inicial" |
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137 | Tanque1.h = 0.2 * 'm'; |
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138 | |
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139 | OPTIONS |
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140 | TimeStep = 0.1; |
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141 | TimeEnd = 30; |
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142 | TimeUnit = 'h'; |
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143 | end |
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144 | |
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145 | |
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146 | |
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