blockLimPID
Information
For detailed model documentation please consult the html-documentation shipped with ClaRa.
Authorship and Copyright Statement for original (initial) Contribution
Author:
DYNCAP/DYNSTART development team, Copyright © 2011-2024.References:
For references please consult the html-documentation shipped with ClaRa.
Remarks:
This component was developed by ClaRa development team under the 3-clause BSD License.
Acknowledgements:ClaRa originated from the collaborative research projects DYNCAP and DYNSTART. Both research projects were supported by the German Federal Ministry for Economic Affairs and Energy (FKZ 03ET2009 and FKZ 03ET7060).
CLA:
The author(s) have agreed to ClaRa CLA, version 1.0. See https://claralib.com/pdf/CLA.pdf
By agreeing to ClaRa CLA, version 1.0 the author has granted the ClaRa development team a permanent right to use and modify his initial contribution as well as to publish it or its modified versions under the 3-clause BSD License.
The ClaRa development team consists of the following partners:
TLK-Thermo GmbH (Braunschweig, Germany)
XRG Simulation GmbH (Hamburg, Germany).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| General Design of Controller | |||
| Modelica.Blocks.Types.SimpleController | controllerType | Modelica.Blocks.Types.SimpleController.PID | Type of controller |
| Real | sign | 1 | set to 1 if a positive control error leads to a positive control output, else -1 |
| Normalisation of I/O Signals | |||
| Boolean | perUnitConversion | true | True, if input and output values should be normalised with respect to reference values |
| Real | u_ref | 1 | Reference value for controlled variable |
| Real | y_ref | 1 | Reference value for actuated variable |
| Limiter for Controller Output | |||
| Real | y_max | 1 | Upper limit of output |
| Real | y_min | -y_max | Lower limit of output |
| Time Response of the Controller | |||
| Real | k | 1 | Gain of Proportional block |
| Modelica.Units.SI.Time | Tau_i | 0.5 | 1/Ti is gain of integrator block |
| Modelica.Units.SI.Time | Tau_d | 0.1 | Gain of derivative block |
| Anti-Windup Compensation | |||
| Modelica.Units.SI.Time | Ni | 0.9 | 1/Ni is gain of anti-windup compensation |
| Derivative Filtering | |||
| Real | Nd | 1 | The smaller Nd, the more ideal the derivative block, setting Nd=0 introduces ideal derivative |
| Controller activation | |||
| Boolean | use_activateInput | false | Provide Boolean input to switch controller on/off. |
| ClaRa.Basics.Units.Time | t_activation | 0.0 | Time when controller is switched on. For use_activateInput==true the controller is switched on if (time>t_activation AND activateController=true). |
| ClaRa.Basics.Units.Time | Tau_lag_I | 0.0 | Time lag for activation of integral part AFTER controller is being switched on |
| Real | y_inactive | 1 | Controller output if controller is not active |
| I/O Filters | |||
| Real | Tau_in | 0 | Time constant for input smoothening, Tau_in=0 refers to signal no smoothening |
| Real | Tau_out | 0 | time constant for output smoothening, Tau_out=0 refers to signal no smoothening |
| Initialisation | |||
| Integer | initOption | 501 | Initialisation option |
| Boolean | limitsAtInit | true | = false, if limits are ignored during initializiation |
| Real | xi_start | 0 | Initial or guess value value for integrator output (= integrator state) |
| Real | y_start | 0 | Initial value of output |
| Expert Settings › DAE Index Reduction | |||
| Real | Tau_add | 0 | Set to >0 for additional state after add block in controller, if DAE-index reduction fails. |
| Expert Settings › Obsolete Settings | |||
| Real | xd_start | 0 | Initial or guess value for state of derivative block |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Blocks.Interfaces.RealInput | u_s | Connector of setpoint input signal | |
| Modelica.Blocks.Interfaces.RealInput | u_m | Connector of measurement input signal | |
| Modelica.Blocks.Interfaces.BooleanInput | activateInput | true, if controller is on | |
| Modelica.Blocks.Interfaces.RealOutput | y | Connector of actuator output signal |
Components
Revisions
For revisions please consult the html-documentation shipped with ClaRa.