This information is part of the Modelica Standard Library maintained by the Modelica Association.

LimPID

P, PI, PD, and PID controller with limited output, anti-windup compensation and setpoint weighting

Information
CONNECTORS
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NameTypeDescription
u_sRealInputConnector of setpoint input signal
u_mRealInputConnector of measurement input signal
yRealOutputConnector of actuator output signal
PARAMETERS
NameTypeDefault ValueDescription
controllerTypeSimpleControllerModelica.Blocks.Types.SimpleController.PIDType of controller
kReal1Gain of controller
TiTimeTime constant of Integrator block
TdTimeTime constant of Derivative block
yMaxRealUpper limit of output
yMinReal-yMaxLower limit of output
wpReal1Set-point weight for Proportional block (0..1)
wdReal0Set-point weight for Derivative block (0..1)
NiReal0.9Ni*Ti is time constant of anti-windup compensation
NdReal10The higher Nd, the more ideal the derivative block
initTypeInitPIDModelica.Blocks.Types.InitPID.DoNotUse_InitialIntegratorStateType of initialization (1: no init, 2: steady state, 3: initial state, 4: initial output)
limitsAtInitBooleantrue= false, if limits are ignored during initializiation
xi_startReal0Initial or guess value value for integrator output (= integrator state)
xd_startReal0Initial or guess value for state of derivative block
y_startReal0Initial value of output
with_IBooleancontrollerType == SimpleController.PI or controllerType == SimpleController.PID
with_DBooleancontrollerType == SimpleController.PD or controllerType == SimpleController.PID
USED IN EXAMPLES
Modelica.Blocks.Examples.PID_Controller
Demonstrates the usage of a Continuous.LimPID controller