lbl-srg · mwetter · Apr 11, 2022 · Apr 11, 2022 · May 27, 2022 · Jun 3, 2022
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PI.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PI.mo
@@ -0,0 +1,89 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
+block PI "Identify the parameters of a PI controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
+    final min=1E-6)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
+    "Control gain signal"
+    annotation (Placement(transformation(extent={{100,40},{140,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the integral term"
+    annotation (Placement(transformation(extent={{100,-50},{140,-10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIGain gain
+    "Calculate the control gain"
+    annotation (Placement(transformation(extent={{-10,20},{10,40}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIIntegralTime
+    integralTime
+    "Calculate the integral time"
+    annotation (Placement(transformation(extent={{-10,-40},{10,-20}})));
+
+equation
+  connect(gain.k, k) annotation (Line(points={{12,30},{80,30},{80,60},{120,60}},
+        color={0,0,127}));
+  connect(integralTime.Ti, Ti) annotation (Line(points={{12,-30},{94,-30},{94,
+          -30},{120,-30}},
+                      color={0,0,127}));
+  connect(integralTime.T, gain.T) annotation (Line(points={{-12,-24},{-40,-24},
+          {-40,30},{-12,30}}, color={0,0,127}));
+  connect(integralTime.L, gain.L) annotation (Line(points={{-12,-36},{-20,-36},
+          {-20,24},{-12,24}}, color={0,0,127}));
+  connect(T, gain.T) annotation (Line(points={{-120,0},{-40,0},{-40,30},{-12,30}},
+        color={0,0,127}));
+  connect(L, gain.L) annotation (Line(points={{-120,-60},{-20,-60},{-20,24},{
+          -12,24}}, color={0,0,127}));
+  connect(gain.kp, kp) annotation (Line(points={{-12,36},{-40,36},{-40,60},{
+          -120,60}}, color={0,0,127}));
+  annotation (defaultComponentName = "PI",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-154,148},{146,108}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block calculates the control gain and the integral time of a PI model.
+</p>
+<p>Please refer to the following block for detailed information:</p>
+<ul>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIGain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.PIGain</a>
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIIntegralTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.PIIntegralTime</a>
+</li>
+</ul>
+</html>"));
+end PI;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PID.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PID.mo
@@ -0,0 +1,108 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
+block PID "Identify the parameters of a PID controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
+    final min=1E-6)
+    "Gain of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
+    "Control gain signal"
+    annotation (Placement(transformation(extent={{100,30},{140,70}}),
+        iconTransformation(extent={{100,50},{140,90}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Connector for time constant signal for the integral term"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Td(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Connector for time constant signal for the derivative term"
+    annotation (Placement(transformation(extent={{100,-80},{140,-40}}),
+        iconTransformation(extent={{100,-90},{140,-50}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIDGain gai
+    "Calculate the control gain"
+    annotation (Placement(transformation(extent={{-10,40},{10,60}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIDIntegralTime
+    intTim "Calculate the integral time"
+    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+  Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIDDerivativeTime
+    derTim "Calculate the derivative time"
+    annotation (Placement(transformation(extent={{-10,-70},{10,-50}})));
+
+equation
+  connect(derTim.Td, Td) annotation (Line(points={{12,-60},{120,-60}},
+                     color={0,0,127}));
+  connect(intTim.Ti, Ti)
+    annotation (Line(points={{12,0},{120,0}}, color={0,0,127}));
+  connect(gai.k, k) annotation (Line(points={{12,50},{120,50}},
+        color={0,0,127}));
+  connect(intTim.T, gai.T) annotation (Line(points={{-12,6},{-40,6},{-40,50},{-12,
+          50}}, color={0,0,127}));
+  connect(derTim.T, gai.T) annotation (Line(points={{-12,-54},{-40,-54},{-40,50},
+          {-12,50}}, color={0,0,127}));
+  connect(intTim.L, gai.L) annotation (Line(points={{-12,-6},{-26,-6},{-26,44},
+          {-12,44}}, color={0,0,127}));
+  connect(derTim.L, gai.L) annotation (Line(points={{-12,-66},{-26,-66},{-26,44},
+          {-12,44}}, color={0,0,127}));
+  connect(kp, gai.kp) annotation (Line(points={{-120,60},{-20,60},{-20,56},{-12,
+          56}}, color={0,0,127}));
+  connect(T, gai.T) annotation (Line(points={{-120,0},{-80,0},{-80,6},{-40,6},{
+          -40,50},{-12,50}}, color={0,0,127}));
+  connect(L, gai.L) annotation (Line(points={{-120,-60},{-26,-60},{-26,44},{-12,
+          44}}, color={0,0,127}));
+  annotation (defaultComponentName = "PID",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-154,148},{146,108}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>
+This block calculates the control gain, the integral time, and the derivative time of a PID model.
+</p>
+<p>Please refer to the following block for detailed information:</p>
+<ul>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIDGain\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.PIDGain</a>
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIDIntegralTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.PIDIntegralTime</a>
+</li>
+<li>
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.PIDDerivativeTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.SystemIdentification.AutoTuner.AMIGO.PIDDerivativeTime</a>
+</li>
+</ul>
+</html>"));
+end PID;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PIDDerivativeTime.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PIDDerivativeTime.mo
@@ -0,0 +1,99 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
+block PIDDerivativeTime "Identify the derivative time of a PID controller"
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
+        iconTransformation(extent={{-140,40},{-100,80}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of a first order time-delayed model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Td(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the derivative term"
+    annotation (Placement(transformation(extent={{100,-16},{140,24}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+  Buildings.Controls.OBC.CDL.Continuous.MultiplyByParameter gai1(final k=0.3)
+    "Calculate the product of 0.3 and the time delay"
+    annotation (Placement(transformation(extent={{-80,-70},{-60,-50}})));
+  Buildings.Controls.OBC.CDL.Continuous.MultiplyByParameter gai2(final k=0.5)
+    "Calculate the product of 0.5 and the input time constant"
+    annotation (Placement(transformation(extent={{-80,30},{-60,50}})));
+  Buildings.Controls.OBC.CDL.Continuous.Multiply mul
+    "Calculate the product of the output of gai2 and the input time constant"
+    annotation (Placement(transformation(extent={{-40,0},{-20,20}})));
+  Buildings.Controls.OBC.CDL.Continuous.Add add
+    "Calculate the sum of the output of gai1 and the input time constant"
+    annotation (Placement(transformation(extent={{-40,-64},{-20,-44}})));
+  Buildings.Controls.OBC.CDL.Continuous.Divide div
+    "Calculate the output of mul divided by the output of add"
+    annotation (Placement(transformation(extent={{20,-6},{40,14}})));
+
+equation
+  connect(div.y, Td) annotation (Line(points={{42,4},{120,4}}, color={0,0,127}));
+  connect(gai1.u, L) annotation (Line(points={{-82,-60},{-96,-60},{-96,-60},{-120,
+          -60}},      color={0,0,127}));
+  connect(gai1.y, add.u2) annotation (Line(points={{-58,-60},{-42,-60}},
+                      color={0,0,127}));
+  connect(add.u1, T) annotation (Line(points={{-42,-48},{-48,-48},{-48,60},{
+          -120,60}}, color={0,0,127}));
+  connect(gai2.u, T) annotation (Line(points={{-82,40},{-90,40},{-90,60},{-120,
+          60}}, color={0,0,127}));
+  connect(mul.u2, L) annotation (Line(points={{-42,4},{-96,4},{-96,-60},{-120,
+          -60}}, color={0,0,127}));
+  connect(gai2.y, mul.u1) annotation (Line(points={{-58,40},{-52,40},{-52,16},{
+          -42,16}}, color={0,0,127}));
+  connect(mul.y, div.u1) annotation (Line(points={{-18,10},{18,10}},
+        color={0,0,127}));
+  connect(div.u2, add.y) annotation (Line(points={{18,-2},{12,-2},{12,-54},{-18,
+          -54}}, color={0,0,127}));
+  annotation (defaultComponentName = "PIDDerTim",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-154,148},{146,108}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the derivative time of a PID model.</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+T<sub>d</sub> = 0.5LT/(0.3L+T),
+</p>
+<p>
+where <code>T</code> is the time constant of the first-order time-delayed model
+and <code>L</code> is the time delay of the first-order time-delayed model.
+</p>
+<h4>Validation</h4>
+<p>
+This block was validated analytically, see
+<a href=\"modelica://Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PIDDerivativeTime\">
+Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.Validation.PIDDerivativeTime</a>.
+</p>
+<h4>References</h4>
+<p>
+Åström, Karl Johan and Tore Hägglund  (2004) 
+\"Revisiting the Ziegler–Nichols step response method for PID control.\"
+Journal of process control 14.6 (2004): 635-650.
+</p>
+</html>"));
+end PIDDerivativeTime;