Changeset 946 for trunk

Timestamp:

Sep 8, 2013, 1:00:46 PM (10 years ago)

Author:

Argimiro Resende Secchi

Message:

Updating PID with derivative filter.

File:

• trunk/Block-Oriented EML/Control Systems/PID_Id.mso (modified) (6 diffs)

trunk/Block-Oriented EML/Control Systems/PID_Id.mso

@@ -27 +27 @@
         #Controller Options
         Controller_Mode as Switcher(Valid=["P","I","D","PI","PD","PID"],Default="PID");
-        Controller_Structure as Switcher(Valid=["Ideal","Approx. Derivative"],Default="Ideal");
 
         # PID Parameters
@@ -33 +32 @@
         TauI as Real(Brief="Integral or reset time",Unit='s');
         TauD as Real(Brief="Derivative time",Unit='s');
-        N as Real(Brief="Divisor terms when the approximative approach",Unit='1/s', Default=100);
+        N as Real(Brief="Filter parameter",Unit='1/s', Default=200);
 
 
@@ -39 +38 @@
 
         in e as Real(Brief="Deviation error",Protected=true,PosX=0,PosY=0.5);
-        Inte as Real(Brief="Integral of the error",Hidden=true);
-        Diffe as Real(Brief="Derivative of the error",Hidden=true);
+        Inte as Real(Brief="Integral of the error",Hidden=true,Unit='s');
+        ef as Real(Brief="Derivative error filter",Hidden=true);
 
         P as Real(Brief="Proportional action",Hidden=true);
         I as Real(Brief="Integral or reset action",Hidden=true);
-        D1 as Real(Brief="Derivative or anticipative action for structure 1",Hidden=true);
-        D2 as Real(Brief="Derivative or anticipative action  for structure 2",Hidden=true);
         D as Real(Brief="Final Derivative or anticipative action",Hidden=true);
         out m as Real(Brief="Controller Output",PosX=1, PosY=0.5,Protected=true);
@@ -53 +50 @@
 
         "Integral of the error"
-        diff(Inte)*'s'=e;
-
-        "Derivative of the error"
-        Diffe=diff(e)*'s';
+        diff(Inte)=e;
 
         "Proportional action"
@@ -62 +56 @@
 
         "Integral or reset action"
-        I=Kc*(Inte/TauI)*'s';
-        
-        switch Controller_Structure
-                case "Ideal":
-                        "Derivative or anticipative action"
-                        D1=Kc*TauD*Diffe/'s';
-                        diff(D2)*'s'=0;
-                        D=D1;
-                case "Approx. Derivative":
-                        "Derivative or anticipative action"
-                        (1/N)*diff(D2)+D2=Kc*TauD*Diffe/'s';
-                        D1=0;
-                        D=D2;
-        end
+        I=Kc*(Inte/TauI);
+
+        "Derivative or anticipative action"
+        D=Kc*TauD*diff(ef);
+
+        "Error filter"
+        (1/N)*diff(ef)=e-ef;
         
         #PID Controller equation
@@ -96 +83 @@
         INITIAL
 
-        Inte=0;
-        D2=0;
+        Inte=0*'s';
+        diff(ef)*'s'=0;
+#       ef=0;
+end
 
-end
 
 #* 
 Notes: 
 
-(1) The "PID with approximate Derivative" approach of Simulink was implemented too.
+(1) A simple derivative-filtered approach as in Simulink was implemented.
 
 (2) The controller modes I and D were added for analysis purposes.
 
 
-Revision Date: 09.11.2012
+Revision Date: 02.09.2013
 
 *#