LimPIDTest ​
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.LimPIDTest()
Behavior ​
julia
using BlockComponents #hide
using ModelingToolkit #hide
@named sys = BlockComponents.LimPIDTest() #hide
full_equations(sys) #hide<< @example-block not executed in draft mode >>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 LimPIDTest
"Limited PID controller with configurable parameters"
pid = 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 = 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 = 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 = Constant(k = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 50, "y1": 340, "x2": 150, "y2": 440, "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 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": 500},
{"x": 20, "y": 500},
{"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": 410, "y": 390}], "E": 2}],
"renderStyle": "standard"
}
}
metadata {
"Dyad": {
"icons": {"default": "dyad://BlockComponents/Example.svg"},
"tests": {"case1": {"stop": 10, "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 LimPIDTest
"Limited PID controller with configurable parameters"
pid = 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 = 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 = 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 = Constant(k = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 50, "y1": 340, "x2": 150, "y2": 440, "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 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": 500},
{"x": 20, "y": 500},
{"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": 410, "y": 390}], "E": 2}],
"renderStyle": "standard"
}
}
metadata {
"Dyad": {
"icons": {"default": "dyad://BlockComponents/Example.svg"},
"tests": {"case1": {"stop": 10, "expect": {"signals": ["plant.y", "pid.y"]}}}
}
}
endTest Cases ​
julia
using BlockComponents
using DyadInterface: TransientAnalysis, rebuild_sol
using ModelingToolkit: toggle_namespacing, get_defaults, @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 = LimPIDTest()
model_case1 = toggle_namespacing(model_case1, false)
model_case1 = toggle_namespacing(model_case1, true)
result_case1 = TransientAnalysis(; model = model_case1, alg = "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, "LimPIDTest_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, "LimPIDTest_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 >>