ELAFish.base.controllers.msl

// -----------------------------------------------------------------------
//  HEMMIS - Ghent University, BIOMATH - Université Laval, modelEAU
//  Implementation: Hans Vangheluwe, Peter Vanrolleghem, Henk Vanhooren, 
//                  Jurgen Meirlaen,Frederik Decouttere, Youri Amerlinck
//                  Frederik De Laender, Ludiwine Clouzot.
//  Description: MSL-USER/ELAFish/Base/Controllers
// -----------------------------------------------------------------------

#ifndef ELAFISH_BASE_CONTROLLERS
#define ELAFISH_BASE_CONTROLLERS


CLASS P
  (* class = "controller" *)
  "P controller"

// The value of the manipulated variabele changes proportional to the value 
// of the error signal.						

  SPECIALISES
  PhysicalDAEModelType :=
  {:
    comments <- "A model for a proportional controller";
    interface <-
    {
      OBJ y_M (* terminal = "in_1" *) "Sensor measured output" : 
               Real := {: causality <- "CIN" :};
      OBJ u (* terminal = "out_1" *) "Controlled variable" : 
               Real := {: causality <- "COUT" :};
    };

    parameters <-
    {

    OBJ u0 "No error action" : Real := {: value <- 50 :};
    OBJ y_S "Setpoint value for controlled variable" : 
         Real := {: value <- 2 :};
    OBJ K_P "Factor of proportionality" : 
         Real := {: value <- 25 :};
 
    };

    independent <- 
    {
      OBJ t "Time": Time ;
    };

    state <-
     {
     };

    equations <-
    {

    interface.u = parameters.K_P * 

      (parameters.y_S - interface.y_M) + 
        parameters.u0 ;

    };
  :};

CLASS PI
  (* class = "controller" *)
  "PI controller"

// The value of the manipulated variabele changes proportional to the value 
// of the error signal and to the value of the integral of the error function 
// in time.						

  SPECIALISES
  PhysicalDAEModelType :=
  {:
    comments <- "A model for a proportional-integral controller";
    interface <-
    {
      OBJ y_M (* terminal = "in_1" *) "Sensor measured output" : 
               Real := {: causality <- "CIN" :};
      OBJ u (* terminal = "out_1" *) "Controlled variable" : 
               Real := {: causality <- "COUT" :};
    };

    parameters <-
    {
    OBJ u0 "No error action" : Real := {: value <- 50 :};
    OBJ y_S "Setpoint value for controlled variable" : 
         Real := {: value <- 2 :};
    OBJ K_P "Factor of proportionality" : 
         Real := {: value <- 25 :};
    OBJ T_I "Integral time" : Time := {: value <- 0.1 :}; 
    };

    independent <- 
    {
      OBJ t "Time": Time ;
    };

    state <-
     {
      OBJ e "Error" : PhysicalQuantityType ;
      OBJ Integ_e "Integral of error" : PhysicalQuantityType ;
     };

    equations <-
    {
     {state.e = parameters.y_S - interface.y_M;};

     {DERIV(state.Integ_e,[independent.t]) = state.e;}; 

     {interface.u = parameters.K_P * 
     (state.e + (1 / parameters.T_I) * state.Integ_e) +  
      parameters.u0;};  
    };   
  :};


CLASS PID
  (* class = "controller" *)
  "PID controller"
  SPECIALISES
  PhysicalDAEModelType :=
  {:
    comments <- "A model for a proportional-integral-derivative controller";
    interface <-
    {
      OBJ y_M (* terminal = "in_1" *) "Sensor measured output" : 
               Real := {: causality <- "CIN" :};
      OBJ u (* terminal = "out_1" *) "Controlled variable" : 
               Real := {: causality <- "COUT" :};
    };

    parameters <-
    {
     
     OBJ K_P "Factor of proportionality" : Real := {: value <- 11.31977725 :};
     OBJ T_I "Integral time" : Time := {: value <- 0.5062161847 :};
     OBJ T_D "Derivative time" : Time := {: value <- 0.2531080923 :};
     OBJ y_S "Setpoint value for controlled variable" : Real := {: value <- 2 :};
     OBJ u0 "No error action" : Real := {: value <- 50 :};
    };

    independent <-
    {
     OBJ t "Time": Time
    };

    state <-
    {
     OBJ Integ_e "Integral of error": PhysicalQuantityType ;
     OBJ e "Error" : PhysicalQuantityType ;
     OBJ help (* hidden = "1" *) " Previous time help variable" : Time;
     OBJ Deriv_e  "Derivative of error" : Real;
     OBJ Prev_t (* hidden = "1" *) : Time;
    };

    equations <-
    {
     state.e = parameters.y_S - interface.y_M;
  
     state.help = independent.t;

     state.Deriv_e = IF (state.help == 0)
			   THEN 0
			   ELSE (previous(state.e) - state.e) / (previous(state.help) - state.help);

     DERIV(state.Integ_e, [independent.t]) = state.e ;

     interface.u = parameters.u0 +
                   parameters.K_P * (
                       state.e +
                       parameters.T_D * state.Deriv_e +
                       state.Integ_e / parameters.T_I);
    };
  :};

CLASS ConstantRatio
  (* class = "controller" *)
  "Ratio controller"

// The value of the manipulated variabele is a ratio of the measured value

  SPECIALISES
  PhysicalDAEModelType :=
  {:
    comments <- "A model for a ratio controller";
    interface <-
    {
      OBJ y_M (* terminal = "in_1" *) "Sensor measured output" :
               Real := {: causality <- "CIN" :};
      OBJ u (* terminal = "out_1" *) "Controlled variable" :
               Real := {: causality <- "COUT" :};
    };

    parameters <-
    {

    OBJ ConstantRatio "Ratio between measured value and controller output" :
         Real := {: value <- 1 :};
    };


    equations <-
    {

    interface.u = parameters.ConstantRatio * interface.y_M;

    };
  :};

CLASS OnOff
  (* class = "controller" *)
  "On-off controller"

// Purpose:	
// Switch output between two values.	
// 
// Description:	
// The relay block allows the output to switch between two specified values. 
// When the relay is on, it remains on until the input drops below the 
// specified value of 'Input for off'. When the relay is off, it remains off 
// until the input exceeds the specified value of 'Input for on'. 
// Selecting an 'Input for on' value greater than the 'Input for off' value 
// models hysteresis, whereas selecting equal values models a switch with a 
// threshold at that value. The model for an ideal on/off controller is a 
// simplification of this model. Note that an ideal on/off controller can 
// cause oscillations of the error signal. An 'Input for on' value which is 
// smaller than the 'Input for off' value is not allowed.						

  SPECIALISES
  PhysicalDAEModelType :=
  {:
    comments <- "A model for an on-off controller";
    interface <-
    {
      OBJ y_M (* terminal = "in_1" *) "Sensor measured output" : 
               Real := {: causality <- "CIN" :};
      OBJ u (* terminal = "out_1" *) "Controlled variable" : 
               Real := {: causality <- "COUT" :};
    };

    parameters <-
    {
    OBJ y_S "Setpoint value for controlled variable" : 
         Real := {: value <- 2 :};
    OBJ e_Off	"Input for off"	: Real := {: value <- -0.5;
                                           interval  <- {: lowerBound <- MIN_INF; upperBound <-0 ; :};
                                        :};
    OBJ e_On	"Input for on"	: Real := {: value <- 0.5;
                                        interval  <- {: lowerBound <- 0; upperBound <- PLUS_INF; :};
                                     :};
    OBJ u_Off	"Output when off"	: Real := {: value <- 10 :};
    OBJ u_On	"Output when on"	: Real := {: value <- 20 :};
   // e1 <= e2						
    };

    independent <- 
    {
      OBJ t "Time": Time ;
    };

    state <-
    {
     OBJ e "Error" : PhysicalQuantityType ;
     OBJ help_u (* hidden = "1" *) "Previous u help variable" : Real;
     OBJ help_t (* hidden = "1" *) "Previous t help variable" : Real;
    };

    equations <-
    {

    {state.e = parameters.y_S - interface.y_M;};


    state.help_u = interface.u;
    state.help_t = independent.t;
    interface.u = IF(state.e < parameters.e_Off)
                  THEN parameters.u_Off
                  ELSE
                    IF (state.e > parameters.e_On)
                    THEN parameters.u_On
                    ELSE 
			    IF (previous(state.help_t) >= independent.t)
			    THEN parameters.u_On
			    ELSE previous(state.help_u) ;
   };

 :};

#endif // ELAFISH_BASE_CONTROLLERS