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).
Name | Description |
---|---|
![]() | Proportional controller |
![]() | Integral controller |
![]() | Real derivative controller |
![]() | Proportional + Integral controller |
![]() | Proportional + Derivative controller |
![]() | Proportional + Integral + Derivative two degree of freedom controller |
![]() | Simple linear blocks for control purposes |
![]() | Logic controllers |
![]() | Digital controllers |
![]() | Automatic Tuning controllers |
![]() | Interfaces |
![]() | Examples |
Proportional controller with Automatic, Tracking mode and bias signal.
The control law is defined as
CS(s) = Kp*(SP(s) - PV(s))
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 (*) |
Extends from Interfaces.Controller (Partial interface for a generic controller).
Name | Description |
---|---|
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 |
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 |
Integral controller with Automatic, Tracking mode and bias signal.
The control law is defined as
1 CS(s) = ----- (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 (*) |
1 CS(s) = -------- TR(S) 1+s*epswhere eps is a small time constant. Thanks to such a scheme, the integrator does not diverge while the tracking mode
Extends from Interfaces.Controller (Partial interface for a generic controller).
Name | Description |
---|---|
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 |
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 |
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
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 (*) |
Extends from Interfaces.Controller (Partial interface for a generic controller).
Name | Description |
---|---|
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 |
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 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 (*) |
1 -------- TR(S) 1+s*Tiis replaced by
1 -------- TR(S) 1+s*epswhere eps is a small time constant. With such a scheme, the integrator does not diverge while the tracking mode
Extends from Interfaces.Controller (Partial interface for a generic controller).
Name | Description |
---|---|
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 |
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 + 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
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 (*) |
Extends from Interfaces.Controller (Partial interface for a generic controller).
Name | Description |
---|---|
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 |
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 + 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 ]
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 (*) |
1 I(s) = ---------- TR(S) 1+s*epswhere eps is a small time constant. Thanks to such a scheme, the integrator does not diverge while the tracking mode
Extends from Interfaces.Controller (Partial interface for a generic controller).
Name | Description |
---|---|
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 |
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 |