Merge pull request #3184 from SenHuang19/issue2884_PID_autotuning

Issue2884 pid autotuning update the doc and add more parameters

Buildings/Controls/OBC/Utilities/PIDWithAutotuning/FirstOrderAMIGO.mo

@@ -3,29 +3,57 @@ block FirstOrderAMIGO
   "A autotuning PID controller with an AMIGO tuner and a first order time delayed system model"
   parameter Buildings.Controls.OBC.CDL.Types.SimpleController controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PI
     "Type of controller";
-  parameter Real k_start(
+  parameter Real r(
+    min=100*CDL.Constants.eps)=1
+    "Typical range of control error, used for scaling the control error";
+  parameter Real yMax=1
+    "Upper limit of output"
+    annotation (Dialog(group="Limits"));
+  parameter Real yMin=0
+    "Lower limit of output"
+    annotation (Dialog(group="Limits"));
+  parameter Real Ni(
+    min=100*CDL.Constants.eps)=0.9
+    "Ni*Ti is time constant of anti-windup compensation"
+    annotation (Dialog(tab="Advanced",group="Integrator anti-windup",enable=controllerType == CDL.Types.SimpleController.PI or controllerType ==CDL.Types.SimpleController.PID));
+  parameter Real Nd(
+    min=100*CDL.Constants.eps)=10
+    "The higher Nd, the more ideal the derivative block"
+    annotation (Dialog(tab="Advanced",group="Derivative block",enable=controllerType == CDL.Types.SimpleController.PD or controllerType ==CDL.Types.SimpleController.PID));
+  parameter Real xi_start=0
+    "Initial value of integrator state"
+    annotation (Dialog(tab="Advanced",group="Initialization",enable=controllerType == CDL.Types.SimpleController.PI or controllerType == CDL.Types.SimpleController.PID));
+  parameter Real yd_start=0
+    "Initial value of derivative output"
+    annotation (Dialog(tab="Advanced",group="Initialization",enable=controllerType == CDL.Types.SimpleController.PD or controllerType == CDL.Types.SimpleController.PID));
+  parameter Boolean reverseActing=true
+    "Set to true for reverse acting, or false for direct acting control action";
+  parameter Real y_reset=xi_start
+    "Value to which the controller output is reset if the boolean trigger has a rising edge"
+    annotation (Dialog(enable=controllerType == CDL.Types.SimpleController.PI or controllerType == CDL.Types.SimpleController.PID,group="Integrator reset"));
+  final parameter Real k_start(
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)=1
     "Start value of the gain of controller"
     annotation (Dialog(group="Control gains"));
-  parameter Real Ti_start(
+  final parameter Real Ti_start(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)=0.5
     "Start value of the time constant of integrator block"
     annotation (Dialog(group="Control gains",enable=controllerType == CDL.Types.SimpleController.PI or controllerType == CDL.Types.SimpleController.PID));
-  parameter Real Td_start(
+  final parameter Real Td_start(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)=0.1
     "Start value of the time constant of derivative block"
     annotation (Dialog(group="Control gains",enable=controllerType == CDL.Types.SimpleController.PD or controllerType == CDL.Types.SimpleController.PID));
-  parameter Real yHig(min=1E-6) = 1
+  final parameter Real yHig(min=1E-6) = 1
     "Higher value for the relay output";
-  parameter Real yLow(min=1E-6) = 0.5
+  final parameter Real yLow(min=1E-6) = 0.1
     "Lower value for the relay output";
-  parameter Real deaBan(min=1E-6) = 0.5
+  final parameter Real deaBan(min=1E-6) = 0.1
     "Deadband for holding the output value";
-  parameter Real yRef(min=1E-6) = 0.8
+  final parameter Real yRef(min=1E-6) = 0.8
     "Reference output for the tuning process";
   Buildings.Controls.OBC.CDL.Interfaces.RealInput u_s
     "Setpoint"
@@ -48,7 +76,16 @@ block FirstOrderAMIGO
     "A relay controller"
     annotation (Placement(transformation(extent={{20,0},{40,20}})));
   Buildings.Controls.OBC.Utilities.PIDWithInputGains PID(
-     controllerType=controllerType)
+    final controllerType=controllerType,
+    final r=r,
+    final yMax=yMax,
+    final yMin=yMin,
+    final Ni=Ni,
+    final Nd= Nd,
+    final xi_start=xi_start,
+    final yd_start=yd_start,
+    final reverseActing=reverseActing,
+    final y_reset=xi_start)
      "A PID controller"
     annotation (Placement(transformation(extent={{0,-50},{20,-30}})));
   Buildings.Controls.OBC.CDL.Continuous.Switch swi
@@ -169,10 +206,27 @@ equation
           -52}}, color={0,0,127}));
   annotation (Documentation(info="<html>
 <p>
-This blocks implements a AMIGO PID tuning method and the control process is approximated with a first order delay process.
+This block implements a rule-based PID tuning method.
+Specifically, this PID tuning method approximates the control process with a first-order delay (FOD) model.
+It then determines the parameters of this FOD model based on the responses of the control process to an asymmetric relay feedback.
+After that, taking the parameters of this FOD mode as inputs, this PID tuning method calculates the PID parameters based on prescribed rules, i.e., Approximate M-constrained Integral Gain Optimization (AMIGO) Tuner.
+This block is built based on <a href=\\\"modelica://Buildings.Controls.OBC.Utilities.PIDWithInputGains\\\"> Buildings.Controls.OBC.Utilities.PIDWithInputGains</a> and inherits all the parameters of the latter.
+However, through the parameter <code>controllerType</code>, the controller can only be configured as PI or PID controller.
 </p>
+<h4>Breif guidance</h4>
 <p>
-Noted that this block can only support a PI controller or a PID controller.
+To use this block, connect it to the control loop. 
+It will start the PID tuning process once the simulation starts.
+During the PID tuning process, the control loop is controlled by a relay feedback controller.
+The PID tuning process will ends automatically based on the algorithm defined in <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.HalfPeriodRatio\">Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.HalfPeriodRatio</a>.
+Starting from then, the control loop is controlled by a PI or PID controller.
+Note that the output of this block is limited from 0 to 1.
+</p>
+<h4>References</h4>
+<p>
+J. Berner (2017).
+<a href=\"https://lucris.lub.lu.se/ws/portalfiles/portal/33100749/ThesisJosefinBerner.pdf\">\"Automatic Controller Tuning using Relay-based Model Identification.\"</a>
+Department of Automatic Control, Lund University.
 </p>
 </html>", revisions="<html>
 <ul>

Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/OnOffPeriod.mo

@@ -117,11 +117,8 @@ First implementation<br/>
 </li>
 </ul>
 </html>", info="<html>
-<p>This block processes a relay swtich output signal and calculates</p>
-<ol>
-<li>the length of the On period (when the relay switch signal becomes True);</li>
-<li>the length of the Off period (when the relay switch signal becomes False).</li>
-</ol>
+<p>This block processes a relay swtich output signal and calculates the length of the On period (when the relay switch signal becomes True),
+and the length of the Off period (when the relay switch signal becomes False), respectively.
 <h4>References</h4>
 <p>
 Josefin Berner (2017)

Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/PIDWithFirstOrderAMIGO.mo

@@ -4,11 +4,8 @@ model PIDWithFirstOrderAMIGO "Test model for FirstOrderAMIGO"
     "Setpoint value"
     annotation (Placement(transformation(extent={{-80,0},{-60,20}})));
   Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO PIDWitTun(
-    controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PID,
-    yHig=1,
-    yLow=0.1,
-    deaBan=0.1,
-    yRef=0.8) "PID controller with an autotuning feature"
+    controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PID)
+    "PID controller with an autotuning feature"
     annotation (Placement(transformation(extent={{-20,-30},{0,-10}})));
   Buildings.Controls.OBC.CDL.Continuous.PIDWithReset PID(
     controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PID,

Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Validation/PIWithFirstOrderAMIGO.mo

@@ -4,11 +4,8 @@ model PIWithFirstOrderAMIGO "Test model for FirstOrderAMIGO"
     "Setpoint value"
     annotation (Placement(transformation(extent={{-80,0},{-60,20}})));
   Buildings.Controls.OBC.Utilities.PIDWithAutotuning.FirstOrderAMIGO PIWitTun(
-    controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PI,
-    yHig=1,
-    yLow=0.1,
-    deaBan=0.1,
-    yRef=0.8) "PI controller with an autotuning feature"
+    controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PI)
+    "PI controller with an autotuning feature"
     annotation (Placement(transformation(extent={{-20,-30},{0,-10}})));
   Buildings.Controls.OBC.CDL.Continuous.PIDWithReset PI(
     controllerType=Buildings.Controls.OBC.CDL.Types.SimpleController.PI,