blockLimIntegrator
Extends from Interfaces.SISO (Single Input Single Output continuous control block).
Information
This blocks computes y as integral of the input u multiplied with the gain k. If the integral reaches a given upper or lower limit and the input will drive the integral outside of this bound, the integration is halted and only restarted if the input drives the integral away from the bounds.
It might be difficult to initialize the integrator in steady state. This is discussed in the description of package Continuous.
If parameter limitsAtInit = false, the limits of the integrator are removed from the initialization problem which leads to a much simpler equation system. After initialization has been performed, it is checked via an assert whether the output is in the defined limits. For backward compatibility reasons limitsAtInit = true. In most cases it is best to use limitsAtInit = false.
If the reset port is enabled, then the output y is reset to set or to y_start (if the set port is not enabled), whenever the reset port has a rising edge.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Real | k | 1 | Integrator gain |
| Real | outMax | Upper limit of output | |
| Real | outMin | -outMax | Lower limit of output |
| Boolean | use_reset | false | = true, if reset port enabled |
| Boolean | use_set | false | = true, if set port enabled and used as reinitialization value when reset |
| Initialization | |||
| Init | initType | Init.InitialState | Type of initialization (1: no init, 2: steady state, 3/4: initial output) |
| Boolean | limitsAtInit | true | = false, if limits are ignored during initialization (i.e., der(y)=k*u) |
| Real | y_start | 0 | Initial or guess value of output (must be in the limits outMin .. outMax) |
| Advanced | |||
| Boolean | strict | false | = true, if strict limits with noEvent(..) |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| RealInput | u (from SISO) | Connector of Real input signal | |
| RealOutput | y (from SISO) | Connector of Real output signal | |
| Modelica.Blocks.Interfaces.BooleanInput | reset | Optional connector of reset signal | |
| Modelica.Blocks.Interfaces.RealInput | set | Optional connector of set signal |