This sub-package contains the algorithmic iplementation of the PID controller. The controllers contained withn this sub-package
have various features as the increment/decrement lock as well the Time Division Output.
Extends from Modelica.Icons.Package (Icon for standard packages).
Name | Description |
---|---|
![]() | Digital 2-dof PID controller |
![]() | Digital 2-dof PID controller with Time Division Output (TDO) |
![]() | Digital 2-dof PID controller with event based Time Division Output (TDO) |
![]() | Interfaces |
![]() | Examples |
Proportional + Integral + Derivative with two degree of freedom controller with Automatic, Tracking, Manual
mode and bias signal. The controller is implemented in its incremental form algorithm.
The control law is defined as
[ 1 sTd ] CS(s) = Kp[ (bSP(s) - PV(s)) + ----- (SP(s) - PV(S)) + -----------(cSP(s) - PV(s)) ] [ sTi 1 + sTd/N ]
Name | Description | Conditional? |
---|---|---|
SP | Set Point | NO |
PV | Process Variable | NO |
CS | Control Signal | NO |
satHI | CS at HIGH saturation | NO |
satLOW | CS at LOW saturation | NO |
TR | Track Reference signal | YES (useTS) |
TS | Track Switch signal | YES (useTS) |
Bias | Biasing signal | YES (useBIAS) |
MAN | Manual Switch signal | YES (useMAN) |
CSinc | Control Signal increment | YES (useMAN) |
Finc | Forbid increment | YES (useForbid) |
Fdec | Forbid decrement | YES (useForbid) |
Extends from Interfaces.Controller (Partial interface for a digital controller).
Name | Description |
---|---|
Kp | Gain |
Ti | Integral time |
Td | Derivative time |
N | Derivative filter ratio |
b | SP weight in P action |
c | SP weight in D action |
Discretisation | |
Ts | Sampling time |
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 | |
useTS | =true, if TS and TR inputs are enabled |
useBIAS | =true, if BIAS input is enabled |
useMAN | =true, if MANUAL input is enabled |
useForbid | =true, if Forbid inputs are enabled |
Name | Description |
---|---|
TR | Track Reference signal |
TS | Flag that enables the TRACKING mode |
BIAS | Bias signal |
MAN | Flag that enables the MANUAL mode |
CSinc | Control Signal increment when MANUAL mode is selected |
Finc | Flag that forbid an increment of the CS |
Fdec | Flag that forbid a decrement of the CS |
SP | Set Point signal |
CS | Control signal |
PV | Process Variable signal |
satHI | The CS signal saturated at CSmax |
satLOW | The CS signal saturated at CSmin |
Proportional + Integral + Derivative with two degree of freedom controller with Automatic, Tracking, Manual
mode and bias signal. The controller is implemented in its incremental form algorithm.
The control law is defined as
[ 1 sTd ] CS(s) = Kp[ (bSP(s) - PV(s)) + ----- (SP(s) - PV(S)) + -----------(cSP(s) - PV(s)) ] [ sTi 1 + sTd/N ]
Name | Description | Conditional? |
---|---|---|
SP | Set Point | NO |
PV | Process Variable | NO |
CS | Control Signal | NO |
satHI | CS at HIGH saturation | NO |
satLOW | CS at LOW saturation | NO |
TR | Track Reference signal | YES (useTS) |
TS | Track Switch signal | YES (useTS) |
Bias | Biasing signal | YES (useBIAS) |
MAN | Manual Switch signal | YES (useMAN) |
CSinc | Control Signal increment | YES (useMAN) |
Finc | Forbid increment | YES (useForbid) |
Fdec | Forbid decrement | YES (useForbid) |
Extends from Interfaces.Controller (Partial interface for a digital controller).
Name | Description |
---|---|
Kp | Gain |
Ti | Integral time |
Td | Derivative time |
N | Derivative filter ratio |
b | SP weight in P action |
c | SP weight in D action |
TDsteps | Time Division Output resolution |
Discretisation | |
Ts | Sampling time |
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 | |
useTS | =true, if TS and TR inputs are enabled |
useBIAS | =true, if BIAS input is enabled |
useMAN | =true, if MANUAL input is enabled |
useForbid | =true, if Forbid inputs are enabled |
Name | Description |
---|---|
TR | Track Reference signal |
TS | Flag that enables the TRACKING mode |
BIAS | Bias signal |
MAN | Flag that enables the MANUAL mode |
CSinc | Control Signal increment when MANUAL mode is selected |
Finc | Flag that forbid an increment of the CS |
Fdec | Flag that forbid a decrement of the CS |
SP | Set Point signal |
CS | Control signal |
PV | Process Variable signal |
satHI | The CS signal saturated at CSmax |
satLOW | The CS signal saturated at CSmin |
Proportional + Integral + Derivative with two degree of freedom controller with Automatic, Tracking, Manual
mode and bias signal. The controller is implemented in its incremental form algorithm.
The control law is defined as
[ 1 sTd ] CS(s) = Kp[ (bSP(s) - PV(s)) + ----- (SP(s) - PV(S)) + -----------(cSP(s) - PV(s)) ] [ sTi 1 + sTd/N ]
Name | Description | Conditional? |
---|---|---|
SP | Set Point | NO |
PV | Process Variable | NO |
CS | Control Signal | NO |
satHI | CS at HIGH saturation | NO |
satLOW | CS at LOW saturation | NO |
TR | Track Reference signal | YES (useTS) |
TS | Track Switch signal | YES (useTS) |
Bias | Biasing signal | YES (useBIAS) |
MAN | Manual Switch signal | YES (useMAN) |
CSinc | Control Signal increment | YES (useMAN) |
Finc | Forbid increment | YES (useForbid) |
Fdec | Forbid decrement | YES (useForbid) |
Extends from Interfaces.Controller (Partial interface for a digital controller).
Name | Description |
---|---|
Kp | Gain |
Ti | Integral time |
Td | Derivative time |
N | Derivative filter ratio |
b | SP weight in P action |
c | SP weight in D action |
TDsteps | Time Division Output resolution |
Discretisation | |
Ts | Sampling time |
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 | |
useTS | =true, if TS and TR inputs are enabled |
useBIAS | =true, if BIAS input is enabled |
useMAN | =true, if MANUAL input is enabled |
useForbid | =true, if Forbid inputs are enabled |
Name | Description |
---|---|
TR | Track Reference signal |
TS | Flag that enables the TRACKING mode |
BIAS | Bias signal |
MAN | Flag that enables the MANUAL mode |
CSinc | Control Signal increment when MANUAL mode is selected |
Finc | Flag that forbid an increment of the CS |
Fdec | Flag that forbid a decrement of the CS |
SP | Set Point signal |
CS | Control signal |
PV | Process Variable signal |
satHI | The CS signal saturated at CSmax |
satLOW | The CS signal saturated at CSmin |