.IndustrialControlSystems.Controllers.Digital.PID_2dof_TDO

Information

Description

Proportional + Integral + Derivative with two degree of freedom controller with Automatic, Tracking, Manual mode and bias signal. The controller is implemented in its incremental form algorithm.
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                  ]
  


NameDescriptionConditional?
SPSet PointNO
PVProcess VariableNO
CSControl SignalNO
satHICS at HIGH saturationNO
satLOWCS at LOW saturationNO
TRTrack Reference signalYES (useTS)
TSTrack Switch signalYES (useTS)
BiasBiasing signalYES (useBIAS)
MANManual Switch signalYES (useMAN)
CSincControl Signal incrementYES (useMAN)
FincForbid incrementYES (useForbid)
FdecForbid decrementYES (useForbid)


And some of them can be conditionally selected, by specifying a boolean flag.

Time Division Output (TDO)

The Control Signal CS computed by the PID controller can have two values: CSmin and CSmax.
The result is a rectangular wave, which duty cycle is proportional to the control action computed by the controller.
The sampling time Ts is divided in TDsteps intervals. For each one of these sub intervals,
the CS may be at CSmin or CSmax. This results in a very high frequency sampling that may slow down the simulation.

AntiWindUp mode

If the boolean flag AntiWindup is tue the output of the block ( CS ) saturates at the values specified by CSmin and CSmax.

Tracking mode

If the boolean flag useTS is true, the inputs TS and TR are enabled.
When enabled, if the TS signal is true the output CS is forced to follow the track reference signal TR.

Manual mode

If the boolean flag useMAN is true, the inputs MAN and CSinc are enabled.
When enabled, if the MAN signal is true the output CS can be manually controlled via the signals CSinc and CSdec, that respectively increment or decrement the control signal.

Forbid mode

If the boolean flag useForbid is true, the inputs Finc and Fdec are enabled.
When enabled, if the Finc signal is true the output CS cannot grow up, while if Fdec is true it cannot decrease.

Discretisation

The controller is implemented directly through an algorithm, that represents the discretised version of the continuous time controller.

Revisions

Industrial Control Systems (v 1.0.0) : April-May 2012
List of revisions:

Main Authors:
Marco Bonvini; <bonvini@elet.polimi.it>
Alberto Leva <leva@elet.polimi.it>
Politecnico di Milano
Dipartimento di Elettronica e Informazione
Via Ponzio 34/5
20133 Milano - ITALIA -
Copyright:
Copyright © 2010-2012, Marco Bonvini and Alberto Leva.
The IndustrialControlSystems package is free software; it can be redistributed and/or modified under the terms of the Modelica license.

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