Class PidModel

Simulatable industrial PID-controller

This class is as a wrapper for PidController class, that implements ISimulatableModel.

To simulate minimum or maximum select controllers, combine this class with Select blocks.

The controller paramters belong to different aspects of the controller like, tuning, scaling, gain-scheduling, feedforward and anti-surge are adjusted have been collected into a number of data-classes, linked below:

PidParametersPidAntiSurgeParamsPidFeedForwardPidGainSchedulingPidStatusPidScalingPidTuning

Inheritance

object

ModelBaseClass

PidModel

Implements

ISimulatableModel

Inherited Members

ModelBaseClass.ID

ModelBaseClass.ModelInputIDs

ModelBaseClass.additiveInputIDs

ModelBaseClass.outputID

ModelBaseClass.outputIdentID

ModelBaseClass.processModelType

ModelBaseClass.comment

ModelBaseClass.x

ModelBaseClass.y

ModelBaseClass.color

ModelBaseClass.GetID()

ModelBaseClass.SetID(string)

ModelBaseClass.SetProcessModelType(ModelType)

ModelBaseClass.GetProcessModelType()

ModelBaseClass.SetInputIDs(string[], int?)

ModelBaseClass.AddSignalToOutput(string)

ModelBaseClass.GetModelInputIDs()

ModelBaseClass.GetAdditiveInputIDs()

ModelBaseClass.GetBothKindsOfInputIDs()

ModelBaseClass.SetOutputID(string)

ModelBaseClass.GetOutputID()

ModelBaseClass.GetOutputIdentID()

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

Namespace: TimeSeriesAnalysis.Dynamic

Assembly: TimeSeriesAnalysis.dll

Syntax

public class PidModel : ModelBaseClass, ISimulatableModel

Constructors

PidModel(PidParameters, string)

Constructor

Declaration

public PidModel(PidParameters pidParameters, string ID = "not_named")

Parameters

Type	Name	Description
PidParameters	pidParameters	object containing the paramters of the controller
string	ID	Each controller shoudl be given a unique ID

Fields

pidParameters

The paramters which define the behavior of the PidModel

Declaration

public PidParameters pidParameters

Field Value

Type	Description
PidParameters

Methods

Clone(string)

Create deep copy/clone

Declaration

public ISimulatableModel Clone(string ID = null)

Parameters

Type	Name	Description
string	ID

Returns

Type	Description
ISimulatableModel

GetLengthOfInputVector()

Get number of inputs (between 2 and 4) first input is always ymeas, second input is y_setpoint, optionally, input 3 is track signal and input 4 is gain scheduling variable

Declaration

public override int GetLengthOfInputVector()

Returns

Type	Description
int

Overrides

ModelBaseClass.GetLengthOfInputVector()

GetModelParameters()

Get the model parameters

Declaration

public PidParameters GetModelParameters()

Returns

Type	Description
PidParameters	the parameters object of the model

GetOutputSignalType()

Return the type of the output signal

Declaration

public override SignalType GetOutputSignalType()

Returns

Type	Description
SignalType

Overrides

ModelBaseClass.GetOutputSignalType()

GetSteadyStateInput(double, int, double[])

[Method not currently implemented]

Declaration

public double? GetSteadyStateInput(double y0, int inputIdx = 0, double[] givenInputValues = null)

Parameters

Type	Name	Description
double	y0
int	inputIdx
double[]	givenInputValues

Returns

Type	Description
double?

GetSteadyStateOutput(double[], double)

NOT IMPLEMENTED/NOT APPLICABLE

Declaration

public double? GetSteadyStateOutput(double[] u0, double badDataID)

Parameters

Type	Name	Description
double[]	u0
double	badDataID	optional special value that indicates "Nan"

Returns

Type	Description
double?

IsModelSimulatable(out string)

Answers if the model with the curret paramters makes sense to simulate

Declaration

public bool IsModelSimulatable(out string explainStr)

Parameters

Type	Name	Description
string	explainStr

Returns

Type	Description
bool

Iterate(double[], double, double)

Iterate the PID controller one step

Declaration

public double[] Iterate(double[] inputs, double timeBase_s, double badDataID = -9999)

Parameters

Type	Name	Description
double[]	inputs	is a vector of length 2, 3 or 4. First value isy_process_abs, second value is y_set_abs, optional third value is uTrackSignal, optional fourth value is gainSchedulingVariable
double	timeBase_s	time base in seconds
double	badDataID	value of inputs that is to be treated as NaN

Returns

Type	Description
double[]	the output u of the pid-controller. If not enough inputs, it returns NaN

SetManualOutput(double)

Set the desired manual output fo controller. This output will only be applied if controller is in MANUAL mode.

Declaration

public void SetManualOutput(double manualOutput_prc)

Parameters

Type	Name	Description
double	manualOutput_prc

SetToAutoMode()

Set controller in auto

Declaration

public void SetToAutoMode()

SetToManualMode()

Set controller in auto

Declaration

public void SetToManualMode()

ToString()

Create a nice human-readable summary of all the important data contained in the model object. This is especially useful for unit-testing and development.

Declaration

public override string ToString()

Returns

Type	Description
string

Overrides

object.ToString()

WarmStart(double, double, double)

Initalizes the controller internal state(integral term) to be steady at the given process value and output value, useful to avoid bumps when staring controller

Declaration

public void WarmStart(double y_process_abs, double y_set, double u)

Parameters

Type	Name	Description
double	y_process_abs
double	y_set
double	u

WarmStart(double[], double)

Initalizes the controller internal state(integral term) to be steady at the given process value and output value, useful to avoid bumps when staring controller

Declaration

public void WarmStart(double[] inputs, double output)

Parameters

Type	Name	Description
double[]	inputs
double	output

Implements

ISimulatableModel