This sub-packege contains some controllers with automatic tuning features.
Extends from Modelica.Icons.Package (Icon for standard packages).
Name | Description |
---|---|
![]() | PI controller with Auto Tuning algorithm - discrete time version - |
![]() | PI controller with Auto Tuning algorithm - mixed continuous/discrete time version - |
![]() | Examples |
Proportional + Integral controller with AutoTuning, Automatic, Tracking mode and bias signal.
The control law is defined as
1+sTi CS(s) = Kp ------- (SP(s) - PV(S)) sTi
Name | Description | Conditional? |
---|---|---|
SP | Set Point | NO |
PV | Process Variable | NO |
CS | Control Signal | NO |
TR | Track Reference signal | YES (useTS) |
TS | Track Switch signal | YES (useTS) |
Bias | Biasing signal | YES (useBIAS) |
ATreq | AutoTuning request | YES (useAT) |
This section presents the Modelica realisations of the fully digital of the considered autotuning methodology. The block inputs are the set point (SP) and the process variable (PV), plus a boolean one, a pulse on which initiates the autotuning procedure; the output is clearly the control signal (CS). The initial values for K and Ti, as well as the required phase margin pm, are provided as parameters. The autotuning procedure is composed of the following steps:
Pox := pi^2*(rPVmax-rPVmin)/8/(rCSmax-rCSmin)
TI := tan(pm/180*pi)/wox K := tan(pm/180*pi)/(Pox*sqrt(1+(tan(pm/180*pi))^2))to tune the regulator, and finally switch back to PI mode.
Extends from IndustrialControlSystems.Controllers.Interfaces.Controller (Partial interface for a generic controller).
Name | Description |
---|---|
Kp | Proportional gain (initial value) |
Ti | Integral time (initial value) |
Discretisation | |
Ts | Sampling time (if <= 0 continuous time) |
method | Discretisation method |
Saturation | |
AntiWindup | Flag that enables the antiwindup feature |
CSmin | minimum value of the CS |
CSmax | maximum value of the CS |
Initialisation | |
CS_start | output initial value |
Attributes | |
eps | small time constant that represents the time for switching between auto and tracking mode |
useTS | =true, if TS and TR inputs are enabled |
useBIAS | =true, if BIAS input is enabled |
useAT | =true, if AutoTuning input is enabled |
Auto Tuning Algorithm | |
slope | Slope of the signal |
permOxPeriodPerc | allowed % difference between period measurements |
pm | Phase Margin required |
nOxMin | minimum number of oscillations |
Name | Description |
---|---|
TR | Track Reference signal |
TS | Track Switch signal |
BIAS | Bias |
SP | Set Point signal |
CS | Control signal |
PV | Process Variable signal |
ATreq | Auto Tuning request |
Proportional + Integral controller with AutoTuning, Automatic, Tracking mode and bias signal.
The control law is defined as
1+sTi CS(s) = Kp ------- (SP(s) - PV(S)) sTi
Name | Description | Conditional? |
---|---|---|
SP | Set Point | NO |
PV | Process Variable | NO |
CS | Control Signal | NO |
TR | Track Reference signal | YES (useTS) |
TS | Track Switch signal | YES (useTS) |
Bias | Biasing signal | YES (useBIAS) |
ATreq | AutoTuning request | YES (useAT) |
This section presents the Modelica realisations of the fully digital of the considered autotuning methodology. The block inputs are the set point (SP) and the process variable (PV), plus a boolean one, a pulse on which initiates the autotuning procedure; the output is clearly the control signal (CS). The initial values for K and Ti, as well as the required phase margin pm, are provided as parameters. The autotuning procedure is composed of the following steps:
Pox := pi^2*(rPVmax-rPVmin)/8/(rCSmax-rCSmin)
TI := tan(pm/180*pi)/wox K := tan(pm/180*pi)/(Pox*sqrt(1+(tan(pm/180*pi))^2))to tune the regulator, and finally switch back to PI mode.
Extends from IndustrialControlSystems.Controllers.Interfaces.Controller (Partial interface for a generic controller).
Name | Description |
---|---|
Kp | Proportional gain (initial value) |
Ti | Integral time (initial value) |
Discretisation | |
Ts | Sampling time (if <= 0 continuous time) |
method | Discretisation method |
Saturation | |
AntiWindup | Flag that enables the antiwindup feature |
CSmin | minimum value of the CS |
CSmax | maximum value of the CS |
Initialisation | |
CS_start | output initial value |
Attributes | |
eps | small time constant that represents the time for switching between auto and tracking mode |
useTS | =true, if TS and TR inputs are enabled |
useBIAS | =true, if BIAS input is enabled |
useAT | =true, if AutoTuning input is enabled |
Auto Tuning Algorithm | |
slope | Slope of the signal |
permOxPeriodPerc | allowed % difference between period measurements |
pm | Phase Margin required |
nOxMin | minimum number of oscillations |
Name | Description |
---|---|
TR | Track Reference signal |
TS | Track Switch signal |
BIAS | Bias |
SP | Set Point signal |
CS | Control signal |
PV | Process Variable signal |
ATreq | Auto Tuning request |