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:

PidParameters PidAntiSurgeParams PidFeedForward PidGainScheduling PidStatus PidScaling PidTuning
Inheritance
object
ModelBaseClass
PidModel
Implements
Inherited Members
Namespace: TimeSeriesAnalysis.Dynamic
Assembly: TimeSeriesAnalysis.dll
Syntax
public class PidModel : ModelBaseClass, ISimulatableModel

Constructors

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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

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pidParameters

The paramters which define the behavior of the PidModel

Declaration
public PidParameters pidParameters
Field Value
Type Description
PidParameters

Methods

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Clone(string)

Create deep copy/clone

Declaration
public ISimulatableModel Clone(string ID = null)
Parameters
Type Name Description
string ID
Returns
Type Description
ISimulatableModel
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Clone(PidParameters)

Create deep copy/clone that replaces the existing paramters with a new paramters object, keeping the id the same

Declaration
public ISimulatableModel Clone(PidParameters newPidParameters)
Parameters
Type Name Description
PidParameters newPidParameters
Returns
Type Description
ISimulatableModel
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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
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GetModelParameters()

Get the model parameters

Declaration
public PidParameters GetModelParameters()
Returns
Type Description
PidParameters

the parameters object of the model
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GetOutputSignalType()

Return the type of the output signal

Declaration
public override SignalType GetOutputSignalType()
Returns
Type Description
SignalType
Overrides
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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?
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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?
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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
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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
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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
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SetToAutoMode()

Set controller in auto

Declaration
public void SetToAutoMode()
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SetToManualMode()

Set controller in auto

Declaration
public void SetToManualMode()
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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
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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
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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