#*-------------------------------------------------------------------
* 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 84 2006-12-08 20:37:22Z paula $
*-----------------------------------------------------------------*#

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


FlowSheet Tanque_inc
	DEVICES
	Tanque1 as tank;
	PID     as PIDIncr_Ideal_AWBT;
	
	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";

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

	#Perturbação servo
	#Nível desejado=1*"m"
	PID.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
	DAESolver = "dassl";
	time = [0:0.1:30] * "h" ;
end

FlowSheet Tanque
	DEVICES
	Tanque1 as tank;
	PID     as PID_Ideal_AWBT;
	
	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";

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

	#Perturbação servo
	#Nível desejado=1*"m"
	PID.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
	NLASolver = "sundials";
	time = [0:0.1:30] * "h" ;
end