Merge pull request #3590 from SenHuang19/issue2884_PID_autotuning

Issue2884 pid autotuning
lbl-srg · Dec 14, 2023 · ceb42c8 · ceb42c8
2 parents 74dc25d + 7fd01d4
commit ceb42c8
Show file tree

Hide file tree

Showing 27 changed files with 821 additions and 182 deletions.
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/FirstOrderAMIGO.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/FirstOrderAMIGO.mo
@@ -4,7 +4,6 @@ block FirstOrderAMIGO
   parameter Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController controllerType=
     Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PI
     "Type of controller";
-
   parameter Real k_start(
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)=1
     "Start value of the gain of controller"
@@ -22,7 +21,6 @@ block FirstOrderAMIGO
     "Start value of the time constant of derivative block"
     annotation (Dialog(group="Initial control gains, used prior to first tuning",
       enable=controllerType == Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Types.SimpleController.PID));
-
   parameter Real r(
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)=1
     "Typical range of control error, used for scaling the control error";
@@ -93,7 +91,9 @@ block FirstOrderAMIGO
   Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller rel(
     final yHig=yHig,
     final yLow=yLow,
-    final deaBan=deaBan) "Relay controller"
+    final deaBan=deaBan,
+    final reverseActing=reverseActing)
+    "Relay controller"
     annotation (Placement(transformation(extent={{-40,30},{-20,50}})));
   Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.ResponseProcess resPro(
     final yHig=yHig - yRef,
@@ -129,6 +129,12 @@ block FirstOrderAMIGO
     message="An autotuning is ongoing and an autotuning request is ignored.")
     "Error message when an autotuning tuning is ongoing while a new autotuning request is received"
     annotation (Placement(transformation(extent={{148,-90},{168,-70}})));
+  Buildings.Controls.OBC.CDL.Logical.Edge edgReq
+    "True only when a new request is received"
+    annotation (Placement(transformation(extent={{80,-80},{100,-60}})));
+  Buildings.Controls.OBC.CDL.Logical.TrueDelay tunStaDel(final delayTime=0.001)
+    "A small time delay for the autotuning start time to avoid false alerts"
+    annotation (Placement(transformation(extent={{80,-40},{100,-20}})));
 
 protected
   final parameter Real yHig(min=1E-6) = 1
@@ -149,108 +155,92 @@ protected
     "Type of controller";
 
 equation
-   connect(con.u_s, u_s) annotation (Line(points={{-42,-40},{-48,-40},{-48,0},{-200,
+  connect(con.u_s, u_s) annotation (Line(points={{-42,-40},{-48,-40},{-48,0},{-200,
           0}}, color={0,0,127}));
   connect(rel.u_s, u_s) annotation (Line(points={{-42,40},{-122,40},{-122,0},{-200,
           0}}, color={0,0,127}));
   connect(con.trigger, triRes) annotation (Line(points={{-36,-52},{-36,-90},{-60,
-          -90},{-60,-120}},
-                       color={255,0,255}));
+          -90},{-60,-120}},color={255,0,255}));
   connect(samk.y,con. k) annotation (Line(points={{-98,-20},{-74,-20},{-74,-32},
           {-42,-32}},color={0,0,127}));
   connect(con.Ti, samTi.y) annotation (Line(points={{-42,-36},{-74,-36},{-74,-50},
           {-98,-50}}, color={0,0,127}));
   connect(samTd.y,con. Td) annotation (Line(points={{-98,-80},{-66,-80},{-66,-44},
           {-42,-44}},color={0,0,127}));
   connect(rel.u_m, u_m) annotation (Line(points={{-30,28},{-30,-22},{0,-22},{0,-120}},
-                                  color={0,0,127}));
+          color={0,0,127}));
   connect(resPro.on, rel.yOn) annotation (Line(points={{-2,40},{-10,40},{-10,34},
-          {-18,34}},
-               color={255,0,255}));
+          {-18,34}},color={255,0,255}));
   connect(modTim.y, resPro.tim) annotation (Line(points={{-18,70},{-10,70},{-10,
-          46},{-2,46}},
-                    color={0,0,127}));
+          46},{-2,46}},color={0,0,127}));
   connect(resPro.tau, conProMod.tau) annotation (Line(points={{22,40},{28,40},{28,
-          32},{38,32}},      color={0,0,127}));
+          32},{38,32}},color={0,0,127}));
   connect(conProMod.tOff, resPro.tOff) annotation (Line(points={{38,36},{30,36},
-          {30,44},{22,44}},  color={0,0,127}));
+          {30,44},{22,44}},color={0,0,127}));
   connect(resPro.tOn, conProMod.tOn) annotation (Line(points={{22,48},{32,48},{32,
-          44},{38,44}},      color={0,0,127}));
+          44},{38,44}},color={0,0,127}));
   connect(rel.yErr, conProMod.u) annotation (Line(points={{-18,40},{-12,40},{-12,
-          60},{34,60},{34,48},{38,48}},
-                     color={0,0,127}));
-  connect(PIDPar.kp, conProMod.k)
-    annotation (Line(points={{78,46},{62,46}},                     color={0,0,127}));
-  connect(PIDPar.T, conProMod.T)
-    annotation (Line(points={{78,40},{62,40}},   color={0,0,127}));
-  connect(PIDPar.L, conProMod.L) annotation (Line(points={{78,34},{62,34}},
-                             color={0,0,127}));
+          60},{34,60},{34,48},{38,48}},color={0,0,127}));
+  connect(PIDPar.kp, conProMod.k) annotation (Line(points={{78,46},{62,46}}, color={0,0,127}));
+  connect(PIDPar.T, conProMod.T) annotation (Line(points={{78,40},{62,40}}, color={0,0,127}));
+  connect(PIDPar.L, conProMod.L) annotation (Line(points={{78,34},{62,34}}, color={0,0,127}));
   connect(PIDPar.k, samk.u) annotation (Line(points={{102,47},{110,47},{110,96},
-          {-148,96},{-148,-20},{-122,-20}},
-                      color={0,0,127}));
+          {-148,96},{-148,-20},{-122,-20}},color={0,0,127}));
   connect(PIDPar.Ti, samTi.u) annotation (Line(points={{102,40},{112,40},{112,98},
-          {-150,98},{-150,-50},{-122,-50}},
-                      color={0,0,127}));
+          {-150,98},{-150,-50},{-122,-50}},color={0,0,127}));
   connect(PIPar.kp, conProMod.k) annotation (Line(points={{78,76},{70,76},{70,46},
-          {62,46}},          color={0,0,127}));
+          {62,46}},color={0,0,127}));
   connect(PIPar.T, conProMod.T) annotation (Line(points={{78,70},{72,70},{72,40},
-          {62,40}},      color={0,0,127}));
+          {62,40}}, color={0,0,127}));
   connect(PIPar.L, conProMod.L) annotation (Line(points={{78,64},{74,64},{74,34},
-          {62,34}},      color={0,0,127}));
+          {62,34}},color={0,0,127}));
   connect(PIPar.k, samk.u) annotation (Line(points={{102,76},{110,76},{110,96},{
-          -148,96},{-148,-20},{-122,-20}},
-                      color={0,0,127}));
+          -148,96},{-148,-20},{-122,-20}}, color={0,0,127}));
   connect(PIPar.Ti, samTi.u) annotation (Line(points={{102,64},{112,64},{112,98},
-          {-150,98},{-150,-50},{-122,-50}},
-                           color={0,0,127}));
+          {-150,98},{-150,-50},{-122,-50}}, color={0,0,127}));
   connect(resPro.triEnd, conProMod.triEnd) annotation (Line(points={{22,32},{24,
-          32},{24,20},{56,20},{56,28}},
-                         color={255,0,255}));
+          32},{24,20},{56,20},{56,28}}, color={255,0,255}));
   connect(resPro.triSta, conProMod.triSta) annotation (Line(points={{22,36},{26,
-          36},{26,22},{44,22},{44,28}},
-                         color={255,0,255}));
+          36},{26,22},{44,22},{44,28}}, color={255,0,255}));
   connect(resPro.triEnd, samTi.trigger) annotation (Line(points={{22,32},{24,32},
           {24,20},{-126,20},{-126,-36},{-110,-36},{-110,-38}},
-                                            color={255,0,255}));
+          color={255,0,255}));
   connect(resPro.triEnd, samk.trigger) annotation (Line(points={{22,32},{24,32},
           {24,20},{-126,20},{-126,-6},{-110,-6},{-110,-8}},
-                                      color={255,0,255}));
+          color={255,0,255}));
   connect(resPro.triEnd, samTd.trigger) annotation (Line(points={{22,32},{24,32},
           {24,20},{-126,20},{-126,-66},{-110,-66},{-110,-68}},
-                                              color={255,0,255}));
+          color={255,0,255}));
   connect(PIDPar.Td, samTd.u) annotation (Line(points={{102,33},{114,33},{114,94},
           {-146,94},{-146,-80},{-122,-80}},
-                      color={0,0,127}));
-  connect(swi.y, y)
-    annotation (Line(points={{162,0},{200,0}},                  color={0,0,127}));
+          color={0,0,127}));
+  connect(swi.y, y) annotation (Line(points={{162,0},{200,0}}, color={0,0,127}));
   connect(u_m,con. u_m) annotation (Line(points={{0,-120},{0,-90},{-30,-90},{-30,
           -52}}, color={0,0,127}));
   connect(rel.y, swi.u1) annotation (Line(points={{-18,46},{-16,46},{-16,88},{130,
           88},{130,8},{138,8}},
         color={0,0,127}));
-  connect(swi.u3,con. y) annotation (Line(points={{138,-8},{128,-8},{128,-40},{-18,
+  connect(swi.u3,con. y) annotation (Line(points={{138,-8},{60,-8},{60,-40},{-18,
           -40}}, color={0,0,127}));
   connect(inTunPro.y, swi.u2) annotation (Line(points={{42,-70},{50,-70},{50,0},
-          {138,0}},                    color={255,0,255}));
+          {138,0}}, color={255,0,255}));
   connect(inTunPro.u, triTun) annotation (Line(points={{18,-70},{8,-70},{8,-88},
           {60,-88},{60,-120}}, color={255,0,255}));
   connect(inTunPro.clr, resPro.triEnd) annotation (Line(points={{18,-76},{12,-76},
-          {12,20},{24,20},{24,32},{22,32}},
-                             color={255,0,255}));
+          {12,20},{24,20},{24,32},{22,32}},color={255,0,255}));
   connect(rel.trigger, triTun) annotation (Line(points={{-36,28},{-36,-20},{8,-20},
-          {8,-88},{60,-88},{60,-120}},
-                      color={255,0,255}));
+          {8,-88},{60,-88},{60,-120}},color={255,0,255}));
   connect(resPro.trigger, triTun) annotation (Line(points={{-2,34},{-8,34},{-8,-20},
-          {8,-20},{8,-88},{60,-88},{60,-120}},
-                               color={255,0,255}));
-  connect(nand.y, assMes.u)
-    annotation (Line(points={{142,-80},{146,-80}},
-                                               color={255,0,255}));
-  connect(nand.u2, triTun) annotation (Line(points={{118,-88},{60,-88},{60,-120}},
-                           color={255,0,255}));
-  connect(nand.u1, inTunPro.y) annotation (Line(points={{118,-80},{114,-80},{114,
-          -70},{42,-70}},
-                     color={255,0,255}));
+          {8,-20},{8,-88},{60,-88},{60,-120}},color={255,0,255}));
+  connect(nand.y, assMes.u) annotation (Line(points={{142,-80},{146,-80}}, color={255,0,255}));
+  connect(nand.u2, edgReq.y) annotation (Line(points={{118,-88},{110,-88},{110,-70},
+          {102,-70}}, color={255,0,255}));
+  connect(edgReq.u, triTun) annotation (Line(points={{78,-70},{70,-70},{70,-88},
+          {60,-88},{60,-120}}, color={255,0,255}));
+  connect(tunStaDel.y, nand.u1) annotation (Line(points={{102,-30},{112,-30},{112,
+          -80},{118,-80}}, color={255,0,255}));
+  connect(tunStaDel.u, inTunPro.y) annotation (Line(points={{78,-30},{62,-30},{62,
+          -70},{42,-70}}, color={255,0,255}));
   annotation (Documentation(info="<html>
 <p>
 This block implements a rule-based PID tuning method.
@@ -275,7 +265,7 @@ In addition, the output of this block is limited from <i>0</i> to <i>1</i>.
 
 <h4>Brief guidance</h4>
 <p>
-To use this block, place it in an control loop as any other PI controller.
+To use this block, place it in an control loop as any other PID controller.
 Before the PID tuning process starts, this block is equivalent to <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithInputGains\">
 Buildings.Controls.OBC.Utilities.PIDWithInputGains</a>.
 This block starts the PID tuning process when a request for performing autotuning occurs, i.e.,
@@ -287,7 +277,7 @@ Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.Controller</a>).
 The PID tuning process ends automatically
 (see details in <a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.Relay.BaseClasses.TuningMonitor\">
 Buildings.Controls.OBC.Utilities.PIDWithAutotuning.BaseClasses.Relay.TunMonitor</a>),
-at which point this block turns back to a PI controller but with tuned PI parameters.
+at which point this block turns back to a PID controller but with tuned PID parameters.
 </p>
 
 <p>

diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Controller.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/Relay/Controller.mo
@@ -7,6 +7,9 @@ block Controller
     "Lower value for the output";
   parameter Real deaBan(min=1E-6) = 0.5
     "Deadband for holding the output value";
+  parameter Boolean reverseActing=true
+    "Set to true for reverse acting, or false for direct acting control action";
+
   Buildings.Controls.OBC.CDL.Interfaces.RealInput u_s
     "Setpoint input signal"
     annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
@@ -31,29 +34,34 @@ block Controller
     iconTransformation(extent={{100,-20},{140,20}})));
 
 protected
-  Buildings.Controls.OBC.CDL.Logical.OnOffController greMeaSet(
-    final bandwidth=deaBan*2,
-    final pre_y_start=true)
-    "Check if the measured value is larger than the reference, by default the relay control is on"
+  Buildings.Controls.OBC.CDL.Logical.OnOffController greSetMea(
+    final bandwidth= deaBan*2,
+    final pre_y_start=true) if reverseActing
+    "Check if the reference is larger than the measured value, by default the relay control is on"
     annotation (Placement(transformation(extent={{0,-10},{20,10}})));
   Buildings.Controls.OBC.CDL.Reals.Switch swi
     "Switch between a higher value and a lower value"
     annotation (Placement(transformation(extent={{60,-10},{80,10}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Constant higVal(
     final k=yHig)
     "Higher value for the output"
-    annotation (Placement(transformation(extent={{0,50},{20,70}})));
+    annotation (Placement(transformation(extent={{0,70},{20,90}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Constant lowVal(
     final k=-yLow)
     "Lower value for the output"
-    annotation (Placement(transformation(extent={{0,-50},{20,-30}})));
+    annotation (Placement(transformation(extent={{0,-70},{20,-50}})));
   Buildings.Controls.OBC.CDL.Reals.Subtract conErr
     "Control error (set point - measurement)"
     annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
   Buildings.Controls.OBC.CDL.Reals.Switch swi1
     "Switch between a higher value and a lower value"
     annotation (Placement(transformation(extent={{-10,-10},{10,10}},
     origin={-50,-50})));
+  Buildings.Controls.OBC.CDL.Logical.OnOffController greMeaSet(
+    final bandwidth=deaBan*2,
+    final pre_y_start=true) if not reverseActing
+    "Check if the measured value is larger than the reference, by default the relay control is on"
+    annotation (Placement(transformation(extent={{0,-40},{20,-20}})));
 initial equation
   assert(
     yHig-yLow>1E-6,
@@ -63,30 +71,38 @@ initial equation
 equation
   connect(swi.y, y)
     annotation (Line(points={{82,0},{88,0},{88,60},{120,60}},  color={0,0,127}));
-  connect(greMeaSet.reference, u_s)
-    annotation (Line(points={{-2,6},{-40,6},{-40,0},{-120,0}},  color={0,0,127}));
   connect(higVal.y, swi.u1)
-    annotation (Line(points={{22,60},{40,60},{40,8},{58,8}},color={0,0,127}));
-  connect(lowVal.y, swi.u3) annotation (Line(points={{22,-40},{40,-40},{40,-8},{
+    annotation (Line(points={{22,80},{30,80},{30,8},{58,8}},color={0,0,127}));
+  connect(lowVal.y, swi.u3) annotation (Line(points={{22,-60},{40,-60},{40,-8},{
           58,-8}}, color={0,0,127}));
-  connect(yOn, swi.u2) annotation (Line(points={{120,-60},{50,-60},{50,0},{58,0}},
-        color={255,0,255}));
   connect(conErr.y, yErr) annotation (Line(points={{-38,20},{120,20}},
          color={0,0,127}));
-  connect(greMeaSet.y, swi.u2)
-    annotation (Line(points={{22,0},{58,0}},color={255,0,255}));
-  connect(conErr.u2, u_s) annotation (Line(points={{-62,14},{-90,14},{-90,0},{-120,
-          0}}, color={0,0,127}));
+  connect(greSetMea.y, swi.u2)
+    annotation (Line(points={{22,0},{58,0}}, color={255,0,255}));
   connect(swi1.u3, u_s) annotation (Line(points={{-62,-58},{-90,-58},{-90,0},{-120,
           0}}, color={0,0,127}));
-  connect(swi1.y, greMeaSet.u) annotation (Line(points={{-38,-50},{-20,-50},{-20,
-          -6},{-2,-6}}, color={0,0,127}));
-  connect(swi1.y, conErr.u1) annotation (Line(points={{-38,-50},{-20,-50},{-20,-6},
-          {-70,-6},{-70,26},{-62,26}}, color={0,0,127}));
   connect(trigger, swi1.u2) annotation (Line(points={{-80,-120},{-80,-50},{-62,-50}},
         color={255,0,255}));
   connect(u_m, swi1.u1) annotation (Line(points={{0,-120},{0,-80},{-70,-80},{-70,
           -42},{-62,-42}}, color={0,0,127}));
+   connect(swi1.y, conErr.u1) annotation (Line(points={{-38,-50},{-20,-50},{-20,
+          -4},{-70,-4},{-70,26},{-62,26}}, color={0,0,127}));
+   connect(conErr.u2, u_s) annotation (Line(points={{-62,14},{-90,14},{-90,0},{-120,
+          0}}, color={0,0,127}));
+  connect(greSetMea.reference, u_s) annotation (Line(points={{-2,6},{-40,6},{-40,
+          0},{-120,0}}, color={0,0,127}));
+  connect(swi1.y, greSetMea.u) annotation (Line(points={{-38,-50},{-20,-50},{-20,
+          -6},{-2,-6}}, color={0,0,127}));
+  connect(greMeaSet.reference, swi1.y) annotation (Line(points={{-2,-24},{-16,-24},
+          {-16,-50},{-38,-50}}, color={0,0,127}));
+  connect(greMeaSet.u, u_s) annotation (Line(points={{-2,-36},{-40,-36},{-40,0},
+          {-120,0}}, color={0,0,127}));
+  connect(greMeaSet.y, swi.u2) annotation (Line(points={{22,-30},{32,-30},{32,0},
+          {58,0}}, color={255,0,255}));
+  connect(greMeaSet.y, yOn) annotation (Line(points={{22,-30},{52,-30},{52,-60},
+          {120,-60}}, color={255,0,255}));
+  connect(greSetMea.y, yOn) annotation (Line(points={{22,0},{52,0},{52,-60},{120,
+          -60}}, color={255,0,255}));
   annotation (defaultComponentName = "relCon",
         Icon(coordinateSystem(preserveAspectRatio=false), graphics={
         Rectangle(
@@ -120,8 +136,8 @@ equation
           fillPattern=FillPattern.Solid,
           fillColor={175,175,175},
           textString="Relay"),
-        Line(points={{-70,24},{-34,24},{-34,58},{38,58},{38,24},{66,24}}, color
-            ={28,108,200})}), Diagram(
+        Line(points={{-70,24},{-34,24},{-34,58},{38,58},{38,24},{66,24}}, color=
+             {28,108,200})}), Diagram(
         coordinateSystem(preserveAspectRatio=false)),
 Documentation(info="<html>
 <p>
@@ -131,15 +147,29 @@ boolean relay switch output <code>yOn</code>, and the control error
 </p>
 <ul>
 <li>
-<code>yErr = u_s - u_m</code>,
+if the parameter <code>reverseActing = false</code>
+<ul>
+<li>
+<code>yErr = u_m - u_s</code>,
+</li>
+</ul>
+</li>
+<li>
+else
+<ul>
+<li>
+<code>yErr = u_s - u_m </code>,
+</li>
+</ul>
 </li>
 <li>
 if <code>yErr &lt; -deaBan</code> and <code>trigger</code> is <code>true</code>,
 then <code>y = yHig</code>, <code>yOn = true</code>,
 </li>
 <li>
-if <code>yErr &gt; deaBan</code> and <code>trigger</code> is <code>true</code>,
-then <code>y = -yLow</code>, <code>yOn = false</code>,
+else if <code>yErr &gt; deaBan</code> and <code>trigger</code> is <code>true</code>,
+then <code>y = -yLow</code>, 
+<code>yOn = false</code>,
 </li>
 <li>
 else, <code>y</code> and <code>yOn</code> are kept as the initial values,
@@ -159,6 +189,12 @@ Department of Automatic Control, Lund Institute of Technology, Lund University.<
 </html>", revisions="<html>
 <ul>
 <li>
+December 1, 2023, by Sen Huang:<br/>
+Add a parameter <code>reverseActing</code><br/>
+</li>
+</ul>
+<ul>
+<li>
 June 1, 2022, by Sen Huang:<br/>
 First implementation<br/>
 </li>