modelPIDControllerDirection
Extends from Servomechanisms.Utilities.box.
Information
General
This block describes the controller of a feedback system with a direction output.
Implementation
The control signal is obtain with
Modelica.Blocks.Continuous.LimPID
block, the direction boolean is obtain comparing the signal of the error signal.
Notes
-
The user must use a reference signal value and a feedback signal (real values).
Parameters
| Type | Name | Default | Description |
|---|
| .Modelica.Blocks.Types.SimpleController | controllerType | .Modelica.Blocks.Types.SimpleController.PID | Type of controller |
| Real | k | 1 | Gain of controller |
| SI.Time | Ti | 0.5 | Time constant of Integrator block |
| SI.Time | Td | 0.1 | Time constant of Derivative block |
| Real | yMax | | Upper limit of output |
| Real | yMin | -yMax | Lower limit of output |
| Real | wp | 1 | Set-point weight for Proportional block (0..1) |
| Real | wd | 0 | Set-point weight for Derivative block (0..1) |
| Real | Ni | 0.9 | Ni*Ti is time constant of anti-windup compensation |
| Real | Nd | 10 | The higher Nd, the more ideal the derivative block |
| Initialization |
| Boolean | limitsAtInit | true | = false, if limits are ignored during initialization |
| Real | xi_start | 0 | Initial or guess value value for integrator output (= integrator state) |
| Real | xd_start | 0 | Initial or guess value for state of derivative block |
| Real | y_start | 0 | Initial value of output |
| Advanced |
| Boolean | strict | false | = true, if strict limits with noEvent(..) |
