.IndustrialControlSystems.Controllers.PID

Information

Description

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                  ]
  


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 integral control law, while in the tracking mode
it is defined by the input TR.

To note that in the tracking mode the output of the integral block is forced to follow the track reference
              1
  I(s) = ---------- TR(S)
           1+s*eps
  
where eps is a small time constant. Thanks to such a scheme, the integrator does not diverge while the tracking mode
is enabled.

Revisions

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.

Generated at 2019-10-21T01:39:18Z by OpenModelicaOpenModelica 1.14.0~dev-26785-g6bb7192 using GenerateDoc.mos