IndustrialControlSystems.Controllers

Industrial controllers

Information

  

Description

Controllers, where both modulating and logic control blocks are represented, in three basic (and interchangeable) manners:


Extends from Modelica.Icons.Package (Icon for standard packages).

Package Content

NameDescription
IndustrialControlSystems.Controllers.P P Proportional controller
IndustrialControlSystems.Controllers.I I Integral controller
IndustrialControlSystems.Controllers.D D Real derivative controller
IndustrialControlSystems.Controllers.PI PI Proportional + Integral controller
IndustrialControlSystems.Controllers.PD PD Proportional + Derivative controller
IndustrialControlSystems.Controllers.PID PID Proportional + Integral + Derivative two degree of freedom controller
IndustrialControlSystems.Controllers.Blocks Blocks Simple linear blocks for control purposes
IndustrialControlSystems.Controllers.Logic Logic Logic controllers
IndustrialControlSystems.Controllers.Digital Digital Digital controllers
IndustrialControlSystems.Controllers.AutoTuning AutoTuning Automatic Tuning controllers
IndustrialControlSystems.Controllers.Interfaces Interfaces Interfaces
IndustrialControlSystems.Controllers.Examples Examples Examples

IndustrialControlSystems.Controllers.P IndustrialControlSystems.Controllers.P

Proportional controller

Information

  

Description

Proportional controller with Automatic, Tracking mode and bias signal.
The control law is defined as

  CS(s) = Kp*(SP(s) - PV(s))
  


Scheme



NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
ATreqAutoTuning requestYES (*)
(*) AutoTuning Not available here, please see the package
AutoTuning

The controller can have various operating conditions:
In the Automatic mode, the control output is computed with the proportional control law, while in the tracking mode
it is defined by the input TR.

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

Parameters

NameDescription
Kp Proportional gain
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

Connectors

NameDescription
TRTrack Reference signal
TSTrack Switch signal
BIASBias
SPSet Point signal
CSControl signal
PVProcess Variable signal
ATreqAuto Tuning request

IndustrialControlSystems.Controllers.I IndustrialControlSystems.Controllers.I

Integral controller

Information

  

Description

Integral controller with Automatic, Tracking mode and bias signal.
The control law is defined as

            1
  CS(s) = ----- (SP(s) - PV(S))
           sTi
  


Scheme



NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
ATreqAutoTuning requestYES (*)
(*) AutoTuning Not available here, please see the package
AutoTuning

The controller can have various operating conditions:
In the Automatic mode, the control output is computed with the integral control law, while in the tracking mode
it is defined by the input TR.

To note that in the tracking mode the output signal CS is equal to
              1
  CS(s) = -------- TR(S)
           1+s*eps
  
where eps is a small time constant. Thanks to such a scheme, the integrator does not diverge while the tracking mode
is enabled.

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

Parameters

NameDescription
T Integral time
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

Connectors

NameDescription
TRTrack Reference signal
TSTrack Switch signal
BIASBias
SPSet Point signal
CSControl signal
PVProcess Variable signal
ATreqAuto Tuning request

IndustrialControlSystems.Controllers.D IndustrialControlSystems.Controllers.D

Real derivative controller

Information

  

Description

Real derivative controller with Automatic, Tracking mode and bias signal.
The control law is defined as

              sTd
  CS(s) = ------------ (SP(s) - PV(S))
           1 + sTd/N
  


Scheme



NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
ATreqAutoTuning requestYES (*)
(*) AutoTuning Not available here, please see the package
AutoTuning

The controller can have various operating conditions:
In the Automatic mode, the control output is computed with the integral control law, while in the tracking mode
it is defined by the input TR.

To note that in the tracking mode the output signal CS is equal to TR.

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

Parameters

NameDescription
Td Derivative time
N Limitation of the derivative action
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

Connectors

NameDescription
TRTrack Reference signal
TSTrack Switch signal
BIASBias
SPSet Point signal
CSControl signal
PVProcess Variable signal
ATreqAuto Tuning request

IndustrialControlSystems.Controllers.PI IndustrialControlSystems.Controllers.PI

Proportional + Integral controller

Information

  

Description

Proportional + Integral controller with Automatic, Tracking mode and bias signal.
The control law is defined as

              1+sTi 
  CS(s) = Kp ------- (SP(s) - PV(S))
               sTi
  


Scheme



NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
ATreqAutoTuning requestYES (*)
(*) AutoTuning Not available here, please see the package
AutoTuning

The controller can have various operating conditions:
In the Automatic mode, the control output is computed with the proportional+integral control law, while in the tracking mode
it is defined by the input TR.

To note that in the tracking mode the output signal CS is equal to TR, and the first order filter
     1
  -------- TR(S)
   1+s*Ti
  
is replaced by
     1
  -------- TR(S)
   1+s*eps
  
where eps is a small time constant. With such a scheme, the integrator does not diverge while the tracking mode
is enabled.

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

Parameters

NameDescription
Kp Proportional gain
Ti Integral time
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

Connectors

NameDescription
TRTrack Reference signal
TSTrack Switch signal
BIASBias
SPSet Point signal
CSControl signal
PVProcess Variable signal
ATreqAuto Tuning request

IndustrialControlSystems.Controllers.PD IndustrialControlSystems.Controllers.PD

Proportional + Derivative controller

Information

  

Description

Proportional + real derivative controller with Automatic, Tracking mode and bias signal.
The control law is defined as

                sTd
  CS(s) = Kp ------------ (SP(s) - PV(S))
              1 + sTd/N
  


Scheme



NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
ATreqAutoTuning requestYES (*)
(*) AutoTuning Not available here, please see the package
AutoTuning

The controller can have various operating conditions:
In the Automatic mode, the control output is computed with the integral control law, while in the tracking mode
it is defined by the input TR.

To note that in the tracking mode the output signal CS is equal to TR.

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

Parameters

NameDescription
Kp Proportional gain
Td Derivative time
N Derivative filter ratio
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

Connectors

NameDescription
TRTrack Reference signal
TSTrack Switch signal
BIASBias
SPSet Point signal
CSControl signal
PVProcess Variable signal
ATreqAuto Tuning request

IndustrialControlSystems.Controllers.PID IndustrialControlSystems.Controllers.PID

Proportional + Integral + Derivative two degree of freedom controller

Information

  

Description

Proportional + Integral + Derivative with two degree of freedom controller with Automatic, Tracking mode and bias signal.
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                  ]
  


Scheme



NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
ATreqAutoTuning requestYES (*)
(*) AutoTuning Not available here, please see the package
AutoTuning

The controller can have various operating conditions:
In the Automatic mode, the control output is computed with the integral control law, while in the tracking mode
it is defined by the input TR.

To note that in the tracking mode the output of the integral block is forced to follow the track reference
              1
  I(s) = ---------- TR(S)
           1+s*eps
  
where eps is a small time constant. Thanks to such a scheme, the integrator does not diverge while the tracking mode
is enabled.

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

Parameters

NameDescription
Kp Proportional gain
Ti Integral time
Tt Reset time for the integrator (it should be larger than Td and smaller than Ti)
Td Derivative time
N Derivative filter ratio
b Set point weighting for the proportional action
c Set point weighting for the derivative action
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

Connectors

NameDescription
TRTrack Reference signal
TSTrack Switch signal
BIASBias
SPSet Point signal
CSControl signal
PVProcess Variable signal
ATreqAuto Tuning request

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