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Continuous.Tests.PID.md

Continuous.Tests.PID ​

Combined test harness for the PID controller.

Four PID configurations are exercised in one component, each closing a loop around its own Plant but driven by the same shared unit-step setpoint (signal):

  • pidFull — full PID (with_I = true, with_D = true)

  • pidPI — PI (with_D = false)

  • pidPD — PD (with_I = false)

  • pidP — P only (with_I = false, with_D = false)

The four closed-loop responses (plant*.y) and controller outputs (pid*.y) are compared in a single test case rather than in separate components.

Usage ​

BlockComponents.Continuous.Tests.PID()

Behavior ​

julia
using BlockComponents #hide
using ModelingToolkit #hide
@named sys = BlockComponents.Continuous.Tests.PID() #hide
let eqs = full_equations(sys); Base.length(eqs) > 25 ? nothing : eqs end #hide
<< @example-block not executed in draft mode >>

Source ​

dyad
"""
Combined test harness for the PID controller.

Four `PID` configurations are exercised in one component, each closing a loop
around its own `Plant` but driven by the **same** shared unit-step setpoint
(`signal`):

- `pidFull` — full PID (`with_I = true`, `with_D = true`)
- `pidPI`   — PI (`with_D = false`)
- `pidPD`   — PD (`with_I = false`)
- `pidP`    — P only (`with_I = false`, `with_D = false`)

The four closed-loop responses (`plant*.y`) and controller outputs (`pid*.y`) are
compared in a single test case rather than in separate components.
"""
test component PID
  "Unit-step setpoint shared by all four controllers"
  signal = BlockComponents.Sources.Step(height = 1) {"Dyad": {"placement": {"diagram": {"x1": 0, "x2": 100, "y1": 500, "y2": 600}}}}
  "Full PID controller"
  pidFull = BlockComponents.Continuous.PID(Td = 0.1, Ti = 0.5, wp = 1, wd = 0, Nd = 10) {
    "Dyad": {"placement": {"diagram": {"x1": 400, "x2": 500, "y1": 770, "y2": 870}}}
  }
  "Plant controlled by the full PID"
  plantFull = BlockComponents.Continuous.Plant() {
    "Dyad": {"placement": {"diagram": {"x1": 580, "x2": 680, "y1": 770, "y2": 870}}}
  }
  "PI controller (derivative part structurally removed)"
  pidPI = BlockComponents.Continuous.PID(with_D = false, Ti = 0.5, wp = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 400, "x2": 500, "y1": 540, "y2": 640}}}
  }
  "Plant controlled by the PI controller"
  plantPI = BlockComponents.Continuous.Plant() {
    "Dyad": {"placement": {"diagram": {"x1": 570, "x2": 670, "y1": 540, "y2": 640}}}
  }
  "PD controller (integral part structurally removed)"
  pidPD = BlockComponents.Continuous.PID(with_I = false, Td = 0.1, wp = 1, wd = 0, Nd = 10) {
    "Dyad": {"placement": {"diagram": {"x1": 400, "x2": 500, "y1": 90, "y2": 190}}}
  }
  "Plant controlled by the PD controller"
  plantPD = BlockComponents.Continuous.Plant() {
    "Dyad": {"placement": {"diagram": {"x1": 570, "x2": 670, "y1": 90, "y2": 190}}}
  }
  "P controller (integral and derivative parts structurally removed)"
  pidP = BlockComponents.Continuous.PID(with_I = false, with_D = false, wp = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 400, "x2": 500, "y1": 300, "y2": 400}}}
  }
  "Plant controlled by the P controller"
  plantP = BlockComponents.Continuous.Plant() {
    "Dyad": {"placement": {"diagram": {"x1": 570, "x2": 670, "y1": 300, "y2": 400}}}
  }
relations
  initial plantFull.x1 = 0
  initial plantFull.y = 0
  initial plantPI.x1 = 0
  initial plantPI.y = 0
  initial plantPD.x1 = 0
  initial plantPD.y = 0
  initial plantP.x1 = 0
  initial plantP.y = 0
  connect(plantFull.y, pidFull.u_m) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 720, "y": 820},
            {"x": 720, "y": 900},
            {"x": 370, "y": 900},
            {"x": 370, "y": 843}
          ],
          "E": 2
        }
      ]
    }
  }
  connect(pidFull.y, plantFull.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}}
  connect(plantPI.y, pidPI.u_m) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 720, "y": 590},
            {"x": 720, "y": 670},
            {"x": 360, "y": 670},
            {"x": 360, "y": 613}
          ],
          "E": 2
        }
      ]
    }
  }
  connect(pidPI.y, plantPI.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}}
  connect(plantPD.y, pidPD.u_m) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 720, "y": 140},
            {"x": 720, "y": 220},
            {"x": 365, "y": 220},
            {"x": 365, "y": 163}
          ],
          "E": 2
        }
      ]
    }
  }
  connect(pidPD.y, plantPD.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}}
  connect(plantP.y, pidP.u_m) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 730, "y": 350},
            {"x": 730, "y": 430},
            {"x": 370, "y": 430},
            {"x": 370, "y": 373}
          ],
          "E": 2
        }
      ]
    }
  }
  connect(pidP.y, plantP.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}}
  connect(pidPI.u_s, signal.y) {
    "Dyad": {"edges": [{"S": 1, "M": [{"x": 130, "y": 567}, {"x": 130, "y": 550}], "E": 2}]}
  }
  connect(pidFull.u_s, signal.y) {
    "Dyad": {"edges": [{"S": 1, "M": [{"x": 130, "y": 797}, {"x": 130, "y": 550}], "E": 2}]}
  }
  connect(pidP.u_s, signal.y) {
    "Dyad": {"edges": [{"S": 1, "M": [{"x": 130, "y": 327}, {"x": 130, "y": 550}], "E": 2}]}
  }
  connect(pidPD.u_s, signal.y) {
    "Dyad": {"edges": [{"S": 1, "M": [{"x": 130, "y": 117}, {"x": 130, "y": 550}], "E": 2}]}
  }
metadata {
  "Dyad": {
    "icons": {"default": "dyad://BlockComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 10,
        "atol": {
          "plantFull.y": 0.0001,
          "plantPI.y": 0.0001,
          "plantPD.y": 0.0001,
          "plantP.y": 0.0001,
          "pidFull.y": 0.0001,
          "pidPI.y": 0.0001,
          "pidPD.y": 0.0001,
          "pidP.y": 0.0001
        },
        "expect": {
          "signals": [
            "plantFull.y",
            "plantPI.y",
            "plantPD.y",
            "plantP.y",
            "pidFull.y",
            "pidPI.y",
            "pidPD.y",
            "pidP.y"
          ]
        }
      }
    }
  }
}
end
Flattened Source
dyad
"""
Combined test harness for the PID controller.

Four `PID` configurations are exercised in one component, each closing a loop
around its own `Plant` but driven by the **same** shared unit-step setpoint
(`signal`):

- `pidFull` — full PID (`with_I = true`, `with_D = true`)
- `pidPI`   — PI (`with_D = false`)
- `pidPD`   — PD (`with_I = false`)
- `pidP`    — P only (`with_I = false`, `with_D = false`)

The four closed-loop responses (`plant*.y`) and controller outputs (`pid*.y`) are
compared in a single test case rather than in separate components.
"""
test component PID
  "Unit-step setpoint shared by all four controllers"
  signal = BlockComponents.Sources.Step(height = 1) {"Dyad": {"placement": {"diagram": {"x1": 0, "x2": 100, "y1": 500, "y2": 600}}}}
  "Full PID controller"
  pidFull = BlockComponents.Continuous.PID(Td = 0.1, Ti = 0.5, wp = 1, wd = 0, Nd = 10) {
    "Dyad": {"placement": {"diagram": {"x1": 400, "x2": 500, "y1": 770, "y2": 870}}}
  }
  "Plant controlled by the full PID"
  plantFull = BlockComponents.Continuous.Plant() {
    "Dyad": {"placement": {"diagram": {"x1": 580, "x2": 680, "y1": 770, "y2": 870}}}
  }
  "PI controller (derivative part structurally removed)"
  pidPI = BlockComponents.Continuous.PID(with_D = false, Ti = 0.5, wp = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 400, "x2": 500, "y1": 540, "y2": 640}}}
  }
  "Plant controlled by the PI controller"
  plantPI = BlockComponents.Continuous.Plant() {
    "Dyad": {"placement": {"diagram": {"x1": 570, "x2": 670, "y1": 540, "y2": 640}}}
  }
  "PD controller (integral part structurally removed)"
  pidPD = BlockComponents.Continuous.PID(with_I = false, Td = 0.1, wp = 1, wd = 0, Nd = 10) {
    "Dyad": {"placement": {"diagram": {"x1": 400, "x2": 500, "y1": 90, "y2": 190}}}
  }
  "Plant controlled by the PD controller"
  plantPD = BlockComponents.Continuous.Plant() {
    "Dyad": {"placement": {"diagram": {"x1": 570, "x2": 670, "y1": 90, "y2": 190}}}
  }
  "P controller (integral and derivative parts structurally removed)"
  pidP = BlockComponents.Continuous.PID(with_I = false, with_D = false, wp = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 400, "x2": 500, "y1": 300, "y2": 400}}}
  }
  "Plant controlled by the P controller"
  plantP = BlockComponents.Continuous.Plant() {
    "Dyad": {"placement": {"diagram": {"x1": 570, "x2": 670, "y1": 300, "y2": 400}}}
  }
relations
  initial plantFull.x1 = 0
  initial plantFull.y = 0
  initial plantPI.x1 = 0
  initial plantPI.y = 0
  initial plantPD.x1 = 0
  initial plantPD.y = 0
  initial plantP.x1 = 0
  initial plantP.y = 0
  connect(plantFull.y, pidFull.u_m) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 720, "y": 820},
            {"x": 720, "y": 900},
            {"x": 370, "y": 900},
            {"x": 370, "y": 843}
          ],
          "E": 2
        }
      ]
    }
  }
  connect(pidFull.y, plantFull.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}}
  connect(plantPI.y, pidPI.u_m) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 720, "y": 590},
            {"x": 720, "y": 670},
            {"x": 360, "y": 670},
            {"x": 360, "y": 613}
          ],
          "E": 2
        }
      ]
    }
  }
  connect(pidPI.y, plantPI.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}}
  connect(plantPD.y, pidPD.u_m) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 720, "y": 140},
            {"x": 720, "y": 220},
            {"x": 365, "y": 220},
            {"x": 365, "y": 163}
          ],
          "E": 2
        }
      ]
    }
  }
  connect(pidPD.y, plantPD.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}}
  connect(plantP.y, pidP.u_m) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 730, "y": 350},
            {"x": 730, "y": 430},
            {"x": 370, "y": 430},
            {"x": 370, "y": 373}
          ],
          "E": 2
        }
      ]
    }
  }
  connect(pidP.y, plantP.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}}
  connect(pidPI.u_s, signal.y) {
    "Dyad": {"edges": [{"S": 1, "M": [{"x": 130, "y": 567}, {"x": 130, "y": 550}], "E": 2}]}
  }
  connect(pidFull.u_s, signal.y) {
    "Dyad": {"edges": [{"S": 1, "M": [{"x": 130, "y": 797}, {"x": 130, "y": 550}], "E": 2}]}
  }
  connect(pidP.u_s, signal.y) {
    "Dyad": {"edges": [{"S": 1, "M": [{"x": 130, "y": 327}, {"x": 130, "y": 550}], "E": 2}]}
  }
  connect(pidPD.u_s, signal.y) {
    "Dyad": {"edges": [{"S": 1, "M": [{"x": 130, "y": 117}, {"x": 130, "y": 550}], "E": 2}]}
  }
metadata {
  "Dyad": {
    "icons": {"default": "dyad://BlockComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 10,
        "atol": {
          "plantFull.y": 0.0001,
          "plantPI.y": 0.0001,
          "plantPD.y": 0.0001,
          "plantP.y": 0.0001,
          "pidFull.y": 0.0001,
          "pidPI.y": 0.0001,
          "pidPD.y": 0.0001,
          "pidP.y": 0.0001
        },
        "expect": {
          "signals": [
            "plantFull.y",
            "plantPI.y",
            "plantPD.y",
            "plantP.y",
            "pidFull.y",
            "pidPI.y",
            "pidPD.y",
            "pidP.y"
          ]
        }
      }
    }
  }
}
end


Test 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.PID()
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.plantFull.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.PID_case1_sig0.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.plantFull.y], width=2, label="Actual value of plantFull.y")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of plantFull.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.plantPI.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.PID_case1_sig1.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.plantPI.y], width=2, label="Actual value of plantPI.y")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of plantPI.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.plantPD.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.PID_case1_sig2.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.plantPD.y], width=2, label="Actual value of plantPD.y")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of plantPD.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.plantP.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.PID_case1_sig3.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.plantP.y], width=2, label="Actual value of plantP.y")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of plantP.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.pidFull.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.PID_case1_sig4.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.pidFull.y], width=2, label="Actual value of pidFull.y")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of pidFull.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.pidPI.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.PID_case1_sig5.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.pidPI.y], width=2, label="Actual value of pidPI.y")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of pidPI.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.pidPD.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.PID_case1_sig6.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.pidPD.y], width=2, label="Actual value of pidPD.y")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of pidPD.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.pidP.y])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "BlockComponents.Continuous.Tests.PID_case1_sig7.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.pidP.y], width=2, label="Actual value of pidP.y")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of pidP.y")
end
<< @setup-block not executed in draft mode >>
julia
plt
<< @example-block not executed in draft mode >>