#*-------------------------------------------------------------------
* 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 910 2010-02-20 03:24:41Z arge $
*-----------------------------------------------------------------*#

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


FlowSheet Tanque_inc
	DEVICES
	Tanque1 as tank;
	PIDc     as PIDIncr;
	
    VARIABLES
out	LI as control_signal (Brief="Level Indicator");

	CONNECTIONS
	LI to PIDc.Input;
	
	SET
	Tanque1.A = 8 * 'm^2';
	PIDc.MaxInput = 2;
	PIDc.MinInput = 0;
	PIDc.PID_Select = "Ideal_AWBT";
	
	PIDc.tau = 1*'s';	
	PIDc.tauSet = 1*'s';	
	PIDc.alpha = 0.3;
	PIDc.bias = 0;	
	PIDc.gamma = 1;
	PIDc.beta = 1;
	PIDc.Action = "Direct";
	PIDc.Clip = "Clipped";
	PIDc.Mode = "Automatic";
	PIDc.intTime=5000*'s';
	PIDc.gain = 3.5;
	PIDc.derivTime=1*'s';
	
	EQUATIONS

	Tanque1.k = 8*'m^2.5/h'*PIDc.Output;	

	"Level sensor"
	LI * 'm' = Tanque1.h;

	#Setpoint tracking
	PIDc.SetPoint=1;

	#Disturbance rejection
	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;
	
    VARIABLES
out	LI as control_signal (Brief="Level Indicator");

	CONNECTIONS
	LI to PIDx.Input;
	
	SET
	Tanque1.A = 8 * 'm^2';
	PIDx.MaxInput = 2;
	PIDx.MinInput = 0;
	PIDx.PID_Select = "Ideal_AWBT";
	
	PIDx.tau = 1*'s';	
    PIDx.tauSet = 1*'s';	
	PIDx.alpha = 0.3;
	PIDx.bias = 0;
	PIDx.gamma = 1;
	PIDx.beta = 1;
	PIDx.intTime=5000*'s';
	PIDx.gain =3.5;
	PIDx.derivTime=1*'s';
	PIDx.Action = "Direct";
	PIDx.Clip = "Clipped";
	PIDx.Mode = "Automatic";

	EQUATIONS
	
	Tanque1.k = 8*'m^2.5/h'*PIDx.Output;	

	"Level sensor"
	LI * 'm' = Tanque1.h;

	#Setpoint tracking
	PIDx.SetPoint=1;

	#Disturbance rejection
	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