modelPID
ISA PID controller with anti-windup
Parameters
| Type | Name | Default | Description |
|---|
| Real | Kp | | Proportional gain (normalised units) |
| Modelica.Units.SI.Time | Ti | | Integral time |
| Modelica.Units.SI.Time | Td | 0 | Derivative time |
| Real | Nd | 1 | Derivative action up to Nd / Td rad/s |
| Real | Ni | 1 | Ni*Ti is the time constant of anti-windup compensation |
| Real | b | 1 | Setpoint weight on proportional action |
| Real | c | 0 | Setpoint weight on derivative action |
| Real | PVmin | | Minimum value of process variable for scaling |
| Real | PVmax | | Maximum value of process variable for scaling |
| Real | CSmin | | Minimum value of control signal for scaling |
| Real | CSmax | | Maximum value of control signal for scaling |
| Real | PVstart | 0.5 | Start value of PV (scaled) |
| Real | CSstart | 0.5 | Start value of CS (scaled) |
| Boolean | steadyStateInit | false | |
Components
| Type | Name | Default | Description |
|---|
| Real | P | | Proportional action / Kp |
| Real | I | | Integral action / Kp |
| Real | D | | Derivative action / Kp |
| Real | Dx | | State of approximated derivator |
| Real | PVs | | Process variable scaled in per unit |
| Real | SPs | | Setpoint variable scaled in per unit |
| Real | CSs | | Control signal scaled in per unit |
| Real | CSbs | | Control signal scaled in per unit before saturation |
| Real | track | | Tracking signal for anti-windup integral action |
