LIBRARY
Continuous.Tests.LimPID
Test bench for a limited PID controller connected to a plant model with step input.
This test component connects a limited PID controller to a plant model and applies a step input as setpoint and a constant feedforward signal. The PID controller includes derivative, integral, and proportional actions with anti-windup and output limitations. The system response can be observed through the plant output and controller signals.
Usage
BlockComponents.Continuous.Tests.LimPID()
Behavior
Source
dyad
"""
Test bench for a limited PID controller connected to a plant model with step input.
This test component connects a limited PID controller to a plant model and applies a step input as
setpoint and a constant feedforward signal. The PID controller includes derivative, integral, and
proportional actions with anti-windup and output limitations. The system response can be observed
through the plant output and controller signals.
"""
test component LimPID
"Limited PID controller with configurable parameters"
pid = BlockComponents.Continuous.LimPID(Td = 0.1, Ti = 0.5, y_max = 1, y_min = -1, wp = 1, wd = 0, Nd = 10, Ni = 0.9, k_ff = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 340, "y1": 60, "x2": 440, "y2": 160, "rot": 0}
}
}
}
"Plant model to be controlled"
plant = BlockComponents.Continuous.Plant() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 50, "y1": 170, "x2": 150, "y2": 270, "rot": 0}
}
}
}
"Step input signal used as setpoint for the controller"
signal = BlockComponents.Sources.Step(height = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 40, "y1": 10, "x2": 140, "y2": 110, "rot": 0}
}
}
}
"Constant signal for feedforward control"
signal_ff = BlockComponents.Sources.Constant(k = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 40, "y1": -140, "x2": 140, "y2": -40, "rot": 0}
},
"tags": []
}
}
relations
"Initial condition for the first state of the plant"
initial plant.x1 = 0
"Initial condition for the plant output"
initial plant.y = 0
"Connect step signal to controller setpoint input"
connect(signal.y, pid.u_s) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 280, "y": 60}, {"x": 280, "y": 87}], "E": 2}],
"renderStyle": "standard"
}
}
"Connect plant output to controller measurement input"
connect(plant.y, pid.u_m) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 280, "y": 220}, {"x": 280, "y": 133}], "E": 2}],
"renderStyle": "standard"
}
}
"Connect controller output to plant input"
connect(pid.y, plant.u) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [
{"x": 500, "y": 111},
{"x": 500, "y": 360},
{"x": 20, "y": 360},
{"x": 20, "y": 220}
],
"E": 2
}
],
"renderStyle": "standard"
}
}
"Connect feedforward signal to controller feedforward input"
connect(pid.u_ff, signal_ff.y) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 390, "y": -90}], "E": 2}],
"renderStyle": "standard"
}
}
metadata {
"Dyad": {
"icons": {"default": "dyad://BlockComponents/Example.svg"},
"tests": {
"case1": {
"stop": 10,
"atol": {"plant.y": 0.0001, "pid.y": 0.0001},
"expect": {"signals": ["plant.y", "pid.y"]}
}
}
}
}
endFlattened Source
dyad
"""
Test bench for a limited PID controller connected to a plant model with step input.
This test component connects a limited PID controller to a plant model and applies a step input as
setpoint and a constant feedforward signal. The PID controller includes derivative, integral, and
proportional actions with anti-windup and output limitations. The system response can be observed
through the plant output and controller signals.
"""
test component LimPID
"Limited PID controller with configurable parameters"
pid = BlockComponents.Continuous.LimPID(Td = 0.1, Ti = 0.5, y_max = 1, y_min = -1, wp = 1, wd = 0, Nd = 10, Ni = 0.9, k_ff = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 340, "y1": 60, "x2": 440, "y2": 160, "rot": 0}
}
}
}
"Plant model to be controlled"
plant = BlockComponents.Continuous.Plant() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 50, "y1": 170, "x2": 150, "y2": 270, "rot": 0}
}
}
}
"Step input signal used as setpoint for the controller"
signal = BlockComponents.Sources.Step(height = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 40, "y1": 10, "x2": 140, "y2": 110, "rot": 0}
}
}
}
"Constant signal for feedforward control"
signal_ff = BlockComponents.Sources.Constant(k = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 40, "y1": -140, "x2": 140, "y2": -40, "rot": 0}
},
"tags": []
}
}
relations
"Initial condition for the first state of the plant"
initial plant.x1 = 0
"Initial condition for the plant output"
initial plant.y = 0
"Connect step signal to controller setpoint input"
connect(signal.y, pid.u_s) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 280, "y": 60}, {"x": 280, "y": 87}], "E": 2}],
"renderStyle": "standard"
}
}
"Connect plant output to controller measurement input"
connect(plant.y, pid.u_m) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 280, "y": 220}, {"x": 280, "y": 133}], "E": 2}],
"renderStyle": "standard"
}
}
"Connect controller output to plant input"
connect(pid.y, plant.u) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [
{"x": 500, "y": 111},
{"x": 500, "y": 360},
{"x": 20, "y": 360},
{"x": 20, "y": 220}
],
"E": 2
}
],
"renderStyle": "standard"
}
}
"Connect feedforward signal to controller feedforward input"
connect(pid.u_ff, signal_ff.y) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 390, "y": -90}], "E": 2}],
"renderStyle": "standard"
}
}
metadata {
"Dyad": {
"icons": {"default": "dyad://BlockComponents/Example.svg"},
"tests": {
"case1": {
"stop": 10,
"atol": {"plant.y": 0.0001, "pid.y": 0.0001},
"expect": {"signals": ["plant.y", "pid.y"]}
}
}
}
}
endTest Cases
Test Case case1
julia
plt
julia
plt