LIBRARY
Continuous.Tests.LimPIDPOnly
Test bench for a limited PID controller with both the integral and derivative parts structurally removed (with_I = false, with_D = false), acting as a proportional controller.
Usage
BlockComponents.Continuous.Tests.LimPIDPOnly()
Behavior
julia
using BlockComponents #hide
using ModelingToolkit #hide
@named sys = BlockComponents.Continuous.Tests.LimPIDPOnly() #hide
let eqs = full_equations(sys); Base.length(eqs) > 25 ? nothing : eqs end #hide<< @example-block not executed in draft mode >>Source
dyad
"""
Test bench for a limited PID controller with both the integral and derivative
parts structurally removed (`with_I = false, with_D = false`), acting as a
proportional controller.
"""
test component LimPIDPOnly
"Limited P controller (integral and derivative parts structurally removed)"
pid = BlockComponents.Continuous.LimPID(with_I = false, with_D = false, y_max = 1, y_min = -1, wp = 1, 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"]}
}
}
}
}
endFlattened Source
dyad
"""
Test bench for a limited PID controller with both the integral and derivative
parts structurally removed (`with_I = false, with_D = false`), acting as a
proportional controller.
"""
test component LimPIDPOnly
"Limited P controller (integral and derivative parts structurally removed)"
pid = BlockComponents.Continuous.LimPID(with_I = false, with_D = false, y_max = 1, y_min = -1, wp = 1, 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"]}
}
}
}
}
endTest Cases
julia
using BlockComponents
using DyadInterface: TransientAnalysis, rebuild_sol, ODEAlg
using ModelingToolkit: toggle_namespacing, get_initial_conditions, @named
using CSV, DataFrames, Plots
snapshotsdir = joinpath(dirname(dirname(pathof(BlockComponents))), "test", "snapshots")<< @setup-block not executed in draft mode >>Test Case case1
julia
@named model_case1 = BlockComponents.Continuous.Tests.LimPIDPOnly()
model_case1 = toggle_namespacing(model_case1, false)
model_case1 = toggle_namespacing(model_case1, true)
result_case1 = TransientAnalysis(; model = model_case1, alg = ODEAlg.Auto(), start = 0e+0, stop = 1e+1, abstol=1e-6, reltol=1e-6)
sol_case1 = rebuild_sol(result_case1)<< @setup-block not executed in draft mode >>julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.plant.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.LimPIDPOnly_case1_sig0.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.plant.y], width=2, label="Actual value of plant.y")
if !isnothing(dfr_case1)
scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of plant.y")
end<< @setup-block not executed in draft mode >>julia
plt<< @example-block not executed in draft mode >>julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.pid.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.LimPIDPOnly_case1_sig1.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.pid.y], width=2, label="Actual value of pid.y")
if !isnothing(dfr_case1)
scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of pid.y")
end<< @setup-block not executed in draft mode >>julia
plt<< @example-block not executed in draft mode >>