IndustrialControlSystems.Controllers.Examples

Examples

Information

Extends from IndustrialControlSystems.Icons.ExamplesPackage (Examples package icon).

Package Content

NameDescription
IndustrialControlSystems.Controllers.Examples.TestP_bias TestP_bias Test of the Proportional controller with bias
IndustrialControlSystems.Controllers.Examples.TestI_bias TestI_bias Test of the Integral controller with bias
IndustrialControlSystems.Controllers.Examples.TestD_bias TestD_bias Test of the Derivative controller with bias
IndustrialControlSystems.Controllers.Examples.TestPI_bias TestPI_bias Test of the Proportional + Integral controller with bias
IndustrialControlSystems.Controllers.Examples.TestPD_bias TestPD_bias Test of the Proportional + Derivative controller with bias
IndustrialControlSystems.Controllers.Examples.TestPID_bias TestPID_bias Test of the Proportional + Integral + Derivative controller with bias
IndustrialControlSystems.Controllers.Examples.TestP_tracking TestP_tracking Test of the Proportional controller -- Tracking mode
IndustrialControlSystems.Controllers.Examples.TestI_tracking TestI_tracking Test of the Integral controller -- Tracking mode
IndustrialControlSystems.Controllers.Examples.TestD_tracking TestD_tracking Test of the Derivative controller -- Tracking mode
IndustrialControlSystems.Controllers.Examples.TestPI_tracking TestPI_tracking Test of the Proportional+Integral controller -- Tracking mode
IndustrialControlSystems.Controllers.Examples.TestPD_tracking TestPD_tracking Test of the Proportional + Derivative controller -- Tracking mode
IndustrialControlSystems.Controllers.Examples.TestPID_tracking TestPID_tracking Test of the Proportional + Integral + Derivative controller -- Tracking mode

IndustrialControlSystems.Controllers.Examples.TestP_bias IndustrialControlSystems.Controllers.Examples.TestP_bias

Test of the Proportional controller with bias

Information


  

Description

In this example have been tested the proportional controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       (1+10s)(1+2s)
  
There are three processes:



The output signal of the process without control is the red line. Of course the system performs poorly especially when an external disturb is applied.
In the closed loop system, the proportional controller tries to follow the SP with a steady state error that can be reduced by increasing its parameter Kp. The disturbance can be rejected using the bias signal of the controller (pink line).

Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestI_bias IndustrialControlSystems.Controllers.Examples.TestI_bias

Test of the Integral controller with bias

Information


  

Description

In this example have been tested the Integral controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       (1+10s)(1+2s)
  
There are three processes:



The output signal of the process without control is the red line. Of course the system performs poorly, in particular when an external disturb is applied.
In the closed loop system, the integral controller reach the SP with a null steady state error. The disturbance can be rejected using the bias signal of the controller (pink line).

Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestD_bias IndustrialControlSystems.Controllers.Examples.TestD_bias

Test of the Derivative controller with bias

Information


  

Description

In this example have been tested the Derivative controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       s(1+10s)(1+2s)
  
There are three processes:



The output signal of the process without control diverges (due to the presence of an integrator) and is not reported.
In the closed loop system, the derivative controller cannot reach the SP reference, but it remains in a neighborhood of it. The disturb (pink signal) can be rejected using the bias signal of the controller (green line), otherwise the action does not reach a satisfactory performance (the Process Variable move away from the Set Point reference).

Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestPI_bias IndustrialControlSystems.Controllers.Examples.TestPI_bias

Test of the Proportional + Integral controller with bias

Information


  

Description

In this example have been tested the Proportional + Integral controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       (1+10s)(1+2s)
  
There are three processes:



The output signal of the process without control is the red line. Of course the system performs poorly, in particular when an external disturb is applied.
In the closed loop system, the proportional + integral controller reach the SP with a null steady state error. The disturbance can be rejected using the bias signal of the controller (pink line).

Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestPD_bias IndustrialControlSystems.Controllers.Examples.TestPD_bias

Test of the Proportional + Derivative controller with bias

Information


  

Description

In this example have been tested the proportional + Derivative controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       s(1+10s)(1+2s)
  
There are three processes:



The output signal of the process without control diverges (due to the presence of an integrator) and is not reported.
In the closed loop system, the proportional + derivative controller cannot reach the SP reference, but it remains in a neighborhood of it. In this case theparameter Kp can reduce the amplitude of such a neighborhood. The disturb (red signal) can be rejected using the bias signal of the controller (pink line), otherwise the action does not reach a satisfactory performance (the Process Variable move away from the Set Point reference).

Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestPID_bias IndustrialControlSystems.Controllers.Examples.TestPID_bias

Test of the Proportional + Integral + Derivative controller with bias

Information


  

Description

In this example have been tested the Proportional + Integral + Derivative controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       (1+10s)(1+2s)
  
There are three processes:



The output signal of the process without control is the red line. Of course the system performs poorly, in particular when an external disturb is applied.
In the closed loop system, the proportional + integral + derivative controller reach the SP with a null steady state error. The disturbance can be rejected using the bias signal of the controller (pink line).

Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

examples


Ts = 0.01 s and method = BE



Ts = 0.05 s and method = BE


Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestP_tracking IndustrialControlSystems.Controllers.Examples.TestP_tracking

Test of the Proportional controller -- Tracking mode

Information


  

Description

In this example have been tested the tracking mode of the proportional controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       (1+10s)(1+2s)
  
There are two processes:

The output signal of the process controlled without tracking is the red line, while the green line is the output of the process controlled with the tracking mode.


The CS of the controller becomes equal to the track reference signal TR when the Track Switch signal becomes true.



Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestI_tracking IndustrialControlSystems.Controllers.Examples.TestI_tracking

Test of the Integral controller -- Tracking mode

Information


  

Description

In this example have been tested the tracking mode of the integral controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       (1+10s)(1+2s)
  
There are two processes:

The output signal of the process controlled without tracking is the red line, while the green line is the output of the process controlled with the tracking mode.


The CS of the controller becomes equal to the track reference signal TR when the Track Switch signal becomes true.



Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestD_tracking IndustrialControlSystems.Controllers.Examples.TestD_tracking

Test of the Derivative controller -- Tracking mode

Information


  

Description

In this example have been tested the tracking mode of the derivative controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       s(1+10s)(1+2s)
  
There are two processes:

The output signal of the process controlled without tracking is the red line, while the green line is the output of the process controlled with the tracking mode. The signal moves away from the SP because of the integrator in the process. The derivative controller, cannot act in order to move the PV closer to the SP.


The CS of the controller becomes equal to the track reference signal TR when the Track Switch signal becomes true.


Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestPI_tracking IndustrialControlSystems.Controllers.Examples.TestPI_tracking

Test of the Proportional+Integral controller -- Tracking mode

Information


  

Description

In this example have been tested the tracking mode of the proportional + integral controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       (1+10s)(1+2s)
  
There are two processes:

The output signal of the process controlled without tracking is the red line, while the green line is the output of the process controlled with the tracking mode.


The CS of the controller becomes equal to the track reference signal TR when the Track Switch signal becomes true.



Bumpless transition

If the Track Reference signal moves the Process Variable at the Set Point reference value, once the Tracking mode is disabled there should be a bumpless transition. The images below show a bumpless transition.



The integrative effect, represented by the first order filter in the feedback path of the PID controller (see the PI block diagram here), is forced to follow the tracking reference (FBout signal in the last figure). In the same figure there is a small variation of the CS when the automatic mode start again, because the PV is not exactly at the SP value and thus the proportional action introduce a little displacement (the blue line at t = 100).

Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestPD_tracking IndustrialControlSystems.Controllers.Examples.TestPD_tracking

Test of the Proportional + Derivative controller -- Tracking mode

Information


  

Description

In this example have been tested the tracking mode of the proportional + derivative controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       s(1+10s)(1+2s)
  
There are two processes:

The output signal of the process controlled without tracking is the red line, while the green line is the output of the process controlled with the tracking mode. The signal moves away from the SP because of the integrator in the process. The derivative controller, cannot act in order to move the PV closer to the SP.


The CS of the controller becomes equal to the track reference signal TR when the Track Switch signal becomes true.


Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

IndustrialControlSystems.Controllers.Examples.TestPID_tracking IndustrialControlSystems.Controllers.Examples.TestPID_tracking

Test of the Proportional + Integral + Derivative controller -- Tracking mode

Information


  

Description

In this example have been tested the tracking mode of the proportional + integral + derivative controller.
The process to be controlled has the following transfer function

   Y(s)          (1+15s)
   ----  =  ----------------
   U(s)       (1+10s)(1+2s)
  
There are two processes:

The output signal of the process controlled without tracking is the red line, while the green line is the output of the process controlled with the tracking mode.


The CS of the controller becomes equal to the track reference signal TR when the Track Switch signal becomes true.



Bumpless transition

If the Track Reference signal moves the Process Variable at the Set Point reference value, once the Tracking mode is disabled there should be a bumpless transition. The images below show a bumpless transition.



The integrative effect, represented by the integrator in the feedback path of the PID controller (see the PID block diagram here), is forced to follow the tracking reference (Iaction signal in the last figure). In the same figure there is a small variation of the CS when the automatic mode start again, because the PV is not exactly at the SP value and thus the proportional action introduce a little displacement (the blue line at t = 100).

Discrete time

If the model parameter Ts is >=0 the continuous time controllers are replaced by their discrete time versions.
The effect of various discretisation method can be studied.

examples


Ts = 0.01 s and method = BE



Ts = 0.05 s and method = BE


Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

NameDescription
Sampling time
Ts if Ts>=0 then discrete time controller, otherwise continuous time

Automatically generated Mon May 21 13:34:16 2012.