Merge pull request #4027 from SenHuang19/issue2884_PID_autotuning

issue2884 autotuning PID
lbl-srg · Nov 20, 2024 · 5504a20 · 5504a20
2 parents 8757c90 + abf5949
commit 5504a20
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diff --git a/...Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDDerivativeTime.mo b/...Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDDerivativeTime.mo
@@ -4,14 +4,14 @@ block PIDDerivativeTime "Identify the derivative time of a PID controller"
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time constant of a first order time-delayed model"
+    "Time constant of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
         iconTransformation(extent={{-140,40},{-100,80}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
         iconTransformation(extent={{-140,-80},{-100,-40}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput Td(
@@ -82,14 +82,14 @@ First implementation<br/>
 T<sub>d</sub> = 0.5 L T/(0.3 L + T),
 </p>
 <p>
-where <code>T</code> is the time constant of the first-order time delayed model
-and <code>L</code> is the time delay of the first-order time delayed model.
+where <code>T</code> is the time constant of the first-order plus time-delay (FOPTD) model
+and <code>L</code> is the time delay of the FOPTD model.
 </p>
 <h4>References</h4>
 <p>
 Åström, Karl Johan and Tore Hägglund  (2004) 
 \"Revisiting the Ziegler–Nichols step response method for PID control.\"
-Journal of process control 14.6 (2004): 635-650.
+Journal of Process Control 14.6 (2004): 635-650.
 </p>
 </html>"));
 end PIDDerivativeTime;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDGain.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDGain.mo
@@ -2,25 +2,25 @@ within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseCl
 block PIDGain "Identify the control gain of a PID controller"
   Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
     final min=1E-6)
-    "Gain of a first order time-delayed model"
+    "Gain of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
         iconTransformation(extent={{-140,40},{-100,80}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time constant of a first order time-delayed model"
+    "Time constant of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
         iconTransformation(extent={{-140,-20},{-100,20}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
         iconTransformation(extent={{-140,-80},{-100,-40}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
-    "Control gain signal"
+    "Control gain"
     annotation (Placement(transformation(extent={{100,-20},{140,20}})));
 protected
   Buildings.Controls.OBC.CDL.Reals.Divide div1
@@ -88,15 +88,15 @@ First implementation<br/>
 k = 1/k<sub>p</sub> + (0.2 + 0.45 T/L),
 </p>
 <p>
-where <code>k<sub>p</sub></code> is the gain of the first-order time delayed model,
-<code>T</code> is the time constant of the first-order time delayed model,
-and <code>L</code> is the time delay of the first-order time delayed model.
+where <code>k<sub>p</sub></code> is the gain of the first-order plus time-delay (FOPTD) model,
+<code>T</code> is the time constant of the FOPTD model,
+and <code>L</code> is the time delay of the FOPTD model.
 </p>
 <h4>References</h4>
 <p>
 Åström, Karl Johan and Tore Hägglund  (2004) 
 \"Revisiting the Ziegler–Nichols step response method for PID control.\"
-Journal of process control 14.6 (2004): 635-650.
+Journal of Process Control 14.6 (2004): 635-650.
 </p>
 </html>"));
 end PIDGain;
diff --git a/...s/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDIntegralTime.mo b/...s/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDIntegralTime.mo
@@ -4,14 +4,14 @@ block PIDIntegralTime "Identify the integral time of a PID controller"
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time constant of a first order time-delayed model"
+    "Time constant of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
         iconTransformation(extent={{-140,40},{-100,80}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
         iconTransformation(extent={{-140,-80},{-100,-40}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
@@ -96,14 +96,14 @@ First implementation<br/>
 T<sub>i</sub> = L (0.4 L + 0.8 T)/(L + 0.1 T),
 </p>
 <p>
-where <code>T</code> is the time constant of the first-order time delayed model
-and <code>L</code> is the time delay of the first-order time delayed model.
+where <code>T</code> is the time constant of the first-order plus time-delay (FOPTD) model
+and <code>L</code> is the time delay of the FOPTD model.
 </p>
 <h4>References</h4>
 <p>
 Åström, Karl Johan and Tore Hägglund  (2004) 
 \"Revisiting the Ziegler–Nichols step response method for PID control.\"
-Journal of process control 14.6 (2004): 635-650.
+Journal of Process Control 14.6 (2004): 635-650.
 </p>
 </html>"));
 end PIDIntegralTime;
diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIGain.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIGain.mo
@@ -2,25 +2,25 @@ within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseCl
 block PIGain "Identify the control gain of a PI controller"
   Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
     final min=1E-6)
-    "Gain of a first order time-delayed model"
+    "Gain of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
         iconTransformation(extent={{-140,40},{-100,80}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time constant of a first order time-delayed model"
+    "Time constant of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
         iconTransformation(extent={{-140,-20},{-100,20}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-96},{-100,-56}}),
         iconTransformation(extent={{-140,-80},{-100,-40}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
-    "Control gain of a PI controller"
+    "Control gain"
     annotation (Placement(transformation(extent={{100,-20},{140,20}})));
 
 protected
@@ -129,9 +129,9 @@ First implementation<br/>
 k = 0.15/k<sub>p</sub> + (0.35-LT/(L+T)<sup>2</sup>)(T/k<sub>p</sub>/L),
 </p>
 <p>
-where <code>k<sub>p</sub></code> is the gain of the first-order time delayed model,
-<code>T</code> is the time constant of the first-order time delayed model, and
-<code>L</code> is the time delay of the first-order time delayed model.
+where <code>k<sub>p</sub></code> is the gain of the first-order plus time-delay (FOPTD) model,
+<code>T</code> is the time constant of the FOPTD model, and
+<code>L</code> is the time delay of the FOPTD model.
 </p>
 <h4>References</h4>
 <p>

diff --git a/...gs/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIIntegralTime.mo b/...gs/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIIntegralTime.mo
@@ -4,14 +4,14 @@ block PIIntegralTime "Identify the integral time of a PI controller"
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time constant of a first order time-delayed model"
+    "Time constant of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
         iconTransformation(extent={{-140,40},{-100,80}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
     final quantity="Time",
     final unit="s",
     min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
         iconTransformation(extent={{-140,-80},{-100,-40}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
@@ -131,8 +131,8 @@ First implementation<br/>
 T<sub>i</sub> = 0.35 L + 13 L T<sup>2</sup>/(T<sup>2</sup> + 12 L T + 7 L<sup>2</sup>),
 </p>
 <p>
-where <code>T</code> is the time constant of the first-order time delayed model
-and <code>L</code> is the time delay of the first-order time delayed model.
+where <code>T</code> is the time constant of the first-order plus time-delay (FOPTD) model
+and <code>L</code> is the time delay of the FOPTD model.
 </p>
 <h4>References</h4>
 <p>

diff --git a/...C/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mo b/...C/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDDerivativeTime.mo
@@ -8,13 +8,13 @@ model PIDDerivativeTime "Test model for calculating the derivative time for a PI
     duration=1,
     offset=0.5,
     height=0.5)
-    "Time constant of a first order time-delayed model"
+    "Time constant of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
     duration=1,
     offset=0.3,
     height=0.3)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-30},{-40,-10}})));
 equation
   connect(T.y, PIDDerTim.T) annotation (Line(points={{-38,20},{-20,20},{-20,6},{

diff --git a/...ontrols/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mo b/...ontrols/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDGain.mo
@@ -7,19 +7,19 @@ model PIDGain "Test model for calculating the control gain for a PID controller"
     duration=1,
     offset=1,
     height=1)
-    "Gain of a first order time-delayed model"
+    "Gain of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
     duration=1,
     offset=0.5,
     height=0.5)
-    "Time constant of a first order time-delayed model"
+    "Time constant of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
     duration=1,
     offset=0.3,
     height=0.3)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-40},{-40,-20}})));
 equation
   connect(kp.y, PIDGai.kp) annotation (Line(points={{-38,30},{-20,30},{-20,6},{-12,

diff --git a/...OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mo b/...OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIDIntegralTime.mo
@@ -8,13 +8,13 @@ model PIDIntegralTime "Test model for calculating the integral time for a PID co
     duration=1,
     offset=0.5,
     height=0.5)
-    "Time constant of a first order time-delayed model"
+    "Time constant of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
     duration=1,
     offset=0.3,
     height=0.3)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-30},{-40,-10}})));
 equation
   connect(T.y, PIDIntTim.T) annotation (Line(points={{-38,20},{-20,20},{-20,6},{

diff --git a/...Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mo b/...Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIGain.mo
@@ -8,19 +8,19 @@ model PIGain "Test model for calculating the gain for a PI controller"
     duration=1,
     offset=1,
     height=1)
-    "Gain of a first order time-delayed model"
+    "Gain of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
     duration=1,
     offset=0.5,
     height=0.5)
-    "Time constant of a first order time-delayed model"
+    "Time constant of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
     duration=1,
     offset=0.3,
     height=0.3)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-40},{-40,-20}})));
 equation
   connect(L.y, PIGai.L) annotation (Line(points={{-38,-30},{-20,-30},{-20,-6},{

diff --git a/.../OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mo b/.../OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/Validation/PIIntegralTime.mo
@@ -8,13 +8,13 @@ model PIIntegralTime "Test model for calculating the integral time for a PI cont
     duration=1,
     offset=0.5,
     height=0.5)
-    "Time constant of a first order time-delayed model"
+    "Time constant of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-60,10},{-40,30}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
     duration=1,
     offset=0.3,
     height=0.3)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-30},{-40,-10}})));
 equation
   connect(T.y, PIIntTim.T) annotation (Line(points={{-38,20},{-20,20},{-20,6},{-12,

diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PI.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PI.mo
@@ -2,21 +2,21 @@ within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
 block PI "Identify control gain and integral time of a PI controller"
   Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
     final min=1E-6)
-    "Gain of a first order time-delayed model"
+    "Gain of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
         iconTransformation(extent={{-140,40},{-100,80}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
     final quantity="Time",
     final unit="s",
-    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time constant of a first order time-delayed model"
+    final min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
         iconTransformation(extent={{-140,-20},{-100,20}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
     final quantity="Time",
     final unit="s",
-    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time delay of a first order time-delayed model"
+    final min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
         iconTransformation(extent={{-140,-80},{-100,-40}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
@@ -26,7 +26,7 @@ block PI "Identify control gain and integral time of a PI controller"
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
     final quantity="Time",
     final unit="s",
-    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    final min=100*Buildings.Controls.OBC.CDL.Constants.eps)
     "Time constant signal for the integral term"
     annotation (Placement(transformation(extent={{100,-50},{140,-10}}),
         iconTransformation(extent={{100,-80},{140,-40}})));

diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PID.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/PID.mo
@@ -2,21 +2,21 @@ within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO;
 block PID "Identify control gain, integral time, and derivative time of the PID model"
   Buildings.Controls.OBC.CDL.Interfaces.RealInput kp(
     final min=1E-6)
-    "Gain of a first order time-delayed model"
+    "Gain of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-140,40},{-100,80}}),
         iconTransformation(extent={{-140,40},{-100,80}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput T(
     final quantity="Time",
     final unit="s",
-    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time constant of a first order time-delayed model"
+    final min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
         iconTransformation(extent={{-140,-20},{-100,20}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealInput L(
     final quantity="Time",
     final unit="s",
-    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
-    "Time delay of a first order time-delayed model"
+    final min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
         iconTransformation(extent={{-140,-80},{-100,-40}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput k
@@ -26,13 +26,13 @@ block PID "Identify control gain, integral time, and derivative time of the PID
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
     final quantity="Time",
     final unit="s",
-    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    final min=100*Buildings.Controls.OBC.CDL.Constants.eps)
     "Time constant signal for the integral term"
     annotation (Placement(transformation(extent={{100,-20},{140,20}})));
   Buildings.Controls.OBC.CDL.Interfaces.RealOutput Td(
     final quantity="Time",
     final unit="s",
-    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    final min=100*Buildings.Controls.OBC.CDL.Constants.eps)
     "Time constant signal for the derivative term"
     annotation (Placement(transformation(extent={{100,-80},{140,-40}}),
         iconTransformation(extent={{100,-90},{140,-50}})));

diff --git a/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mo b/Buildings/Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/Validation/PI.mo
@@ -7,19 +7,19 @@ model PI "Test model for calculating parameters of a PI controller"
     duration=1,
     offset=1,
     height=1)
-    "Gain of a first order time-delayed model"
+    "Gain of a first-order plus time-delay (FOPTD) model"
     annotation (Placement(transformation(extent={{-60,22},{-40,42}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp T(
     duration=1,
     offset=0.5,
     height=0.5)
-    "Time constant of a first order time-delayed model"
+    "Time constant of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-20},{-40,0}})));
   Buildings.Controls.OBC.CDL.Reals.Sources.Ramp L(
     duration=1,
     offset=0.3,
     height=0.3)
-    "Time delay of a first order time-delayed model"
+    "Time delay of the FOPTD model"
     annotation (Placement(transformation(extent={{-60,-60},{-40,-40}})));
 equation
   connect(L.y, PI.L) annotation (Line(points={{-38,-50},{-20,-50},{-20,-6},{-12,