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Continuous.Tests.LimPIDWithoutI.md

Continuous.Tests.LimPIDWithoutI ​

Test bench for a limited PID controller with the integral part structurally removed (with_I = false), acting as a PD controller.

Usage ​

BlockComponents.Continuous.Tests.LimPIDWithoutI()

Behavior ​

Source ​

dyad
"""
Test bench for a limited PID controller with the integral part structurally
removed (`with_I = false`), acting as a PD controller.
"""
test component LimPIDWithoutI
  "Limited PD controller (integral part structurally removed)"
  pid = BlockComponents.Continuous.LimPID(with_I = false, Td = 0.1, y_max = 1, y_min = -1, wp = 1, wd = 0, Nd = 10, 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}
      }
    }
  }
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(signal.y, pid.u_s) {"Dyad": {"edges": [{"S": 1, "E": 2}]}}
  connect(plant.y, pid.u_m) {"Dyad": {"edges": [{"S": 1, "E": 2}]}}
  connect(pid.y, plant.u) {"Dyad": {"edges": [{"S": 1, "E": 2}]}}
  connect(pid.u_ff, signal_ff.y) {"Dyad": {"edges": [{"S": 1, "E": 2}]}}
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"]}
      }
    }
  }
}
end
Flattened Source
dyad
"""
Test bench for a limited PID controller with the integral part structurally
removed (`with_I = false`), acting as a PD controller.
"""
test component LimPIDWithoutI
  "Limited PD controller (integral part structurally removed)"
  pid = BlockComponents.Continuous.LimPID(with_I = false, Td = 0.1, y_max = 1, y_min = -1, wp = 1, wd = 0, Nd = 10, 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}
      }
    }
  }
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(signal.y, pid.u_s) {"Dyad": {"edges": [{"S": 1, "E": 2}]}}
  connect(plant.y, pid.u_m) {"Dyad": {"edges": [{"S": 1, "E": 2}]}}
  connect(pid.y, plant.u) {"Dyad": {"edges": [{"S": 1, "E": 2}]}}
  connect(pid.u_ff, signal_ff.y) {"Dyad": {"edges": [{"S": 1, "E": 2}]}}
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"]}
      }
    }
  }
}
end


Test Cases ​

Test Case case1 ​

julia
plt

julia
plt