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
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 (*) |
(*) 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.
- Industrial Control Systems (v 1.0.0) : April-May 2012
- List of revisions:
- 11 May 2012 (author: Marco Bonvini)
- 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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