MBC_LimPID Coselica block
PID controller with limited output, anti-windup compensation and setpoint weighting
k [-] : Gain of PID block
Properties : Type 'vec' of size 1.
Default value : 1
Ti [s] : Time constant of Integrator block
Properties : Type 'vec' of size 1.
Default value : 0.5
Td [s] : Time constant of Derivative block
Properties : Type 'vec' of size 1.
Default value : 0.1
yMax [-] : Upper limit of output
Properties : Type 'vec' of size 1.
Default value : 1
yMin [-] : Lower limit of output
Properties : Type 'vec' of size 1.
Default value : -1
wp [-] : Set-point weight for Proportional block (0..1)
Properties : Type 'vec' of size 1.
Default value : 1
wd [-] : Set-point weight for Derivative block (0..1)
Properties : Type 'vec' of size 1.
Default value : 0
Ni [-] : Ni*Ti is time constant of anti-windup compensation
Properties : Type 'vec' of size 1.
Default value : 0.9
Nd [-] : The higher Nd, the more ideal the derivative block
Properties : Type 'vec' of size 1.
Default value : 10
Inputs :
Modelica variable name : 'u_s'
Implicit variable (Value type).
Modelica variable name : 'u_m'
Implicit variable (Value type).
Outputs :
Modelica variable name : 'y'
Implicit variable (Value type).
Parameters :
Modelica parameter name : 'k'
Default value : 1
Modelica parameter name : 'Ti'
Default value : 0.5
Modelica parameter name : 'Td'
Default value : 0.1
Modelica parameter name : 'yMax'
Default value : 1
Modelica parameter name : 'yMin'
Default value : -1
Modelica parameter name : 'wp'
Default value : 1
Modelica parameter name : 'wd'
Default value : 0
Modelica parameter name : 'Ni'
Default value : 0.9
Modelica parameter name : 'Nd'
Default value : 10
MBC_LimPID.sci
Modelica.Blocks.Continuous.LimPID in COSELICA/macros/Coselica.mo file