IndustrialControlSystems.Controllers.Digital

Digital controllers

Information

  

Description

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).

Package Content

NameDescription
IndustrialControlSystems.Controllers.Digital.PID_2dof PID_2dof Digital 2-dof PID controller
IndustrialControlSystems.Controllers.Digital.PID_2dof_TDO PID_2dof_TDO Digital 2-dof PID controller with Time Division Output (TDO)
IndustrialControlSystems.Controllers.Digital.PID_2dof_TDO_FullyEventBased PID_2dof_TDO_FullyEventBased Digital 2-dof PID controller with event based Time Division Output (TDO)
IndustrialControlSystems.Controllers.Digital.Interfaces Interfaces Interfaces
IndustrialControlSystems.Controllers.Digital.Examples Examples Examples

IndustrialControlSystems.Controllers.Digital.PID_2dof IndustrialControlSystems.Controllers.Digital.PID_2dof

Digital 2-dof PID controller

Information

  

Description

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                  ]
  


NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
satHICS at HIGH saturationNO
satLOWCS at LOW saturationNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
MANManual Switch signalYES (useMAN)
CSincControl Signal incrementYES (useMAN)
FincForbid incrementYES (useForbid)
FdecForbid decrementYES (useForbid)


And some of them can be conditionally selected, by specifying a boolean flag.

AntiWindUp mode

If the boolean flag AntiWindup is tue the output of the block ( CS ) saturates at the values specified by CSmin and CSmax.

Tracking mode

If the boolean flag useTS is true, the inputs TS and TR are enabled.
When enabled, if the TS signal is true the output CS is forced to follow the track reference signal TR.

Manual mode

If the boolean flag useMAN is true, the inputs MAN and CSinc are enabled.
When enabled, if the MAN signal is true the output CS can be manually controlled via the signals CSinc and CSdec, that respectively increment or decrement the control signal.

Forbid mode

If the boolean flag useForbid is true, the inputs Finc and Fdec are enabled.
When enabled, if the Finc signal is true the output CS cannot grow up, while if Fdec is true it cannot decrease.

Discretisation

The controller is implemented directly through an algorithm, that represents the discretised version of the continuous time controller.

Extends from Interfaces.Controller (Partial interface for a digital controller).

Parameters

NameDescription
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

Connectors

NameDescription
TRTrack Reference signal
TSFlag that enables the TRACKING mode
BIASBias signal
MANFlag that enables the MANUAL mode
CSincControl Signal increment when MANUAL mode is selected
FincFlag that forbid an increment of the CS
FdecFlag that forbid a decrement of the CS
SPSet Point signal
CSControl signal
PVProcess Variable signal
satHIThe CS signal saturated at CSmax
satLOWThe CS signal saturated at CSmin

IndustrialControlSystems.Controllers.Digital.PID_2dof_TDO IndustrialControlSystems.Controllers.Digital.PID_2dof_TDO

Digital 2-dof PID controller with Time Division Output (TDO)

Information

  

Description

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                  ]
  


NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
satHICS at HIGH saturationNO
satLOWCS at LOW saturationNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
MANManual Switch signalYES (useMAN)
CSincControl Signal incrementYES (useMAN)
FincForbid incrementYES (useForbid)
FdecForbid decrementYES (useForbid)


And some of them can be conditionally selected, by specifying a boolean flag.

Time Division Output (TDO)

The Control Signal CS computed by the PID controller can have two values: CSmin and CSmax.
The result is a rectangular wave, which duty cycle is proportional to the control action computed by the controller.
The sampling time Ts is divided in TDsteps intervals. For each one of these sub intervals,
the CS may be at CSmin or CSmax. This results in a very high frequency sampling that may slow down the simulation.

AntiWindUp mode

If the boolean flag AntiWindup is tue the output of the block ( CS ) saturates at the values specified by CSmin and CSmax.

Tracking mode

If the boolean flag useTS is true, the inputs TS and TR are enabled.
When enabled, if the TS signal is true the output CS is forced to follow the track reference signal TR.

Manual mode

If the boolean flag useMAN is true, the inputs MAN and CSinc are enabled.
When enabled, if the MAN signal is true the output CS can be manually controlled via the signals CSinc and CSdec, that respectively increment or decrement the control signal.

Forbid mode

If the boolean flag useForbid is true, the inputs Finc and Fdec are enabled.
When enabled, if the Finc signal is true the output CS cannot grow up, while if Fdec is true it cannot decrease.

Discretisation

The controller is implemented directly through an algorithm, that represents the discretised version of the continuous time controller.

Extends from Interfaces.Controller (Partial interface for a digital controller).

Parameters

NameDescription
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

Connectors

NameDescription
TRTrack Reference signal
TSFlag that enables the TRACKING mode
BIASBias signal
MANFlag that enables the MANUAL mode
CSincControl Signal increment when MANUAL mode is selected
FincFlag that forbid an increment of the CS
FdecFlag that forbid a decrement of the CS
SPSet Point signal
CSControl signal
PVProcess Variable signal
satHIThe CS signal saturated at CSmax
satLOWThe CS signal saturated at CSmin

IndustrialControlSystems.Controllers.Digital.PID_2dof_TDO_FullyEventBased IndustrialControlSystems.Controllers.Digital.PID_2dof_TDO_FullyEventBased

Digital 2-dof PID controller with event based Time Division Output (TDO)

Information

  

Description

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                  ]
  


NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
satHICS at HIGH saturationNO
satLOWCS at LOW saturationNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
MANManual Switch signalYES (useMAN)
CSincControl Signal incrementYES (useMAN)
FincForbid incrementYES (useForbid)
FdecForbid decrementYES (useForbid)


And some of them can be conditionally selected, by specifying a boolean flag.

Time Division Output (TDO)

The Control Signal CS computed by the PID controller can have two values: CSmin and CSmax.
The result is a rectangular wave, which duty cycle is proportional to the control action computed by the controller.
The sampling time Ts is NOT divided in sub intervals. The sampling time is divided in two parts, depensing on the value of the control action.
In the first part the Control Signal is at the CSmax value, while CSmin in the remaining one.
With such an approach very high frequency sampling is avoided.

AntiWindUp mode

If the boolean flag AntiWindup is tue the output of the block ( CS ) saturates at the values specified by CSmin and CSmax.

Tracking mode

If the boolean flag useTS is true, the inputs TS and TR are enabled.
When enabled, if the TS signal is true the output CS is forced to follow the track reference signal TR.

Manual mode

If the boolean flag useMAN is true, the inputs MAN and CSinc are enabled.
When enabled, if the MAN signal is true the output CS can be manually controlled via the signals CSinc and CSdec, that respectively increment or decrement the control signal.

Forbid mode

If the boolean flag useForbid is true, the inputs Finc and Fdec are enabled.
When enabled, if the Finc signal is true the output CS cannot grow up, while if Fdec is true it cannot decrease.

Discretisation

The controller is implemented directly through an algorithm, that represents the discretised version of the continuous time controller.

Extends from Interfaces.Controller (Partial interface for a digital controller).

Parameters

NameDescription
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

Connectors

NameDescription
TRTrack Reference signal
TSFlag that enables the TRACKING mode
BIASBias signal
MANFlag that enables the MANUAL mode
CSincControl Signal increment when MANUAL mode is selected
FincFlag that forbid an increment of the CS
FdecFlag that forbid a decrement of the CS
SPSet Point signal
CSControl signal
PVProcess Variable signal
satHIThe CS signal saturated at CSmax
satLOWThe CS signal saturated at CSmin

Automatically generated Mon May 21 13:34:15 2012.