lbl-srg · mwetter · Aug 12, 2022 · Aug 12, 2022 · Aug 12, 2022 · Aug 12, 2022
diff --git a/Buildings/Controls/OBC/CDL/Reals/PID.mo b/Buildings/Controls/OBC/CDL/Reals/PID.mo
@@ -297,7 +297,13 @@ equation
           fillColor={175,175,175},
           fillPattern=FillPattern.Solid,
           pattern=LinePattern.None,
-          lineColor={0,0,0})}),
+          lineColor={0,0,0}),
+        Text(
+          extent={{226,60},{106,10}},
+          textColor={0,0,0},
+          textString=DynamicSelect("",String(y,
+            leftJustified=false,
+            significantDigits=3)))}),
     Diagram(
       coordinateSystem(
         extent={{-220,-200},{220,200}}), graphics={Rectangle(
@@ -484,6 +490,10 @@ American Society of Heating Refrigerating and Air-Conditioning Engineers Inc. At
       revisions="<html>
 <ul>
 <li>
+October 23, 2023, by Michael Wetter:<br/>
+Added value of control output <code>y</code> to icon.
+</li>
+<li>
 May 20, 2022, by Michael Wetter:<br/>
 Refactored implementation to use new derivative block from CDL package.<br/>
 This is for

diff --git a/Buildings/Controls/OBC/CDL/Reals/PIDWithReset.mo b/Buildings/Controls/OBC/CDL/Reals/PIDWithReset.mo
@@ -308,7 +308,13 @@ equation
           fillColor={175,175,175},
           fillPattern=FillPattern.Solid,
           pattern=LinePattern.None,
-          lineColor={0,0,0})}),
+          lineColor={0,0,0}),
+        Text(
+          extent={{226,60},{106,10}},
+          textColor={0,0,0},
+          textString=DynamicSelect("",String(y,
+            leftJustified=false,
+            significantDigits=3)))}),
     Diagram(
       coordinateSystem(
         extent={{-220,-200},{220,200}}), graphics={Rectangle(
@@ -487,6 +493,10 @@ American Society of Heating Refrigerating and Air-Conditioning Engineers Inc. At
       revisions="<html>
 <ul>
 <li>
+October 23, 2023, by Michael Wetter:<br/>
+Added value of control output <code>y</code> to icon.
+</li>
+<li>
 May 20, 2022, by Michael Wetter:<br/>
 Refactored implementation to use new derivative block from CDL package.<br/>
 This is for

diff --git a/...Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDDerivativeTime.mo b/...Controls/OBC/Utilities/PIDWithAutotuning/AutoTuner/AMIGO/BaseClasses/PIDDerivativeTime.mo
@@ -0,0 +1,95 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+block PIDDerivativeTime "Identify the derivative time of a PID controller"
+  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 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 the FOPTD model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Td(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the derivative term"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}}),
+        iconTransformation(extent={{100,-20},{140,20}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai1(
+    final k=0.3)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-60,-70},{-40,-50}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai2(
+    final k=0.5)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-60,50},{-40,70}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{0,10},{20,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{0,-50},{20,-30}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div
+    "Block that calculates input 1 divided by input 2"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+
+equation
+  connect(div.y, Td) annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(gai1.u, L) annotation (Line(points={{-62,-60},{-120,-60}},
+          color={0,0,127}));
+  connect(gai1.y, add.u2) annotation (Line(points={{-38,-60},{-20,-60},{-20,-46},
+          {-2,-46}}, color={0,0,127}));
+  connect(add.u1, T) annotation (Line(points={{-2,-34},{-80,-34},{-80,60},{-120,
+          60}}, color={0,0,127}));
+  connect(gai2.u, T) annotation (Line(points={{-62,60},{-120,60}}, color={0,0,127}));
+  connect(mul.u2, L) annotation (Line(points={{-2,14},{-70,14},{-70,-60},{-120,-60}},
+          color={0,0,127}));
+  connect(gai2.y, mul.u1) annotation (Line(points={{-38,60},{-20,60},{-20,26},{-2,
+          26}}, color={0,0,127}));
+  connect(mul.y, div.u1) annotation (Line(points={{22,20},{40,20},{40,6},{58,6}},
+        color={0,0,127}));
+  connect(div.u2, add.y) annotation (Line(points={{58,-6},{40,-6},{40,-40},{22,-40}},
+         color={0,0,127}));
+  annotation (defaultComponentName = "PIDDerTim",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the derivative time of a PID controller.</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+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 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.
+</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
@@ -0,0 +1,102 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+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 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 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 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"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.Divide div1
+    "Block that calculates the inverse of the input"
+    annotation (Placement(transformation(extent={{-40,56},{-20,76}})));
+  Buildings.Controls.OBC.CDL.Reals.Sources.Constant const(
+    final k=1)
+    "Constant value 1"
+    annotation (Placement(transformation(extent={{-80,70},{-60,90}})));
+  Buildings.Controls.OBC.CDL.Reals.AddParameter add(
+    final p=0.2)
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{20,-40},{40,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div2
+    "Block that calculates the ratio of the time constant to the time delay"
+    annotation (Placement(transformation(extent={{-60,-40},{-40,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai1(
+    final k=0.45)
+    "Block that calculates the product of the two inputs"
+    annotation (Placement(transformation(extent={{-20,-40},{0,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+
+equation
+  connect(div1.u2, kp) annotation (Line(points={{-42,60},{-120,60}},
+                     color={0,0,127}));
+  connect(const.y, div1.u1) annotation (Line(points={{-58,80},{-50,80},{-50,72},
+          {-42,72}}, color={0,0,127}));
+  connect(div2.u2, L) annotation (Line(points={{-62,-36},{-80,-36},{-80,-60},{
+          -120,-60}}, color={0,0,127}));
+  connect(div2.u1, T) annotation (Line(points={{-62,-24},{-80,-24},{-80,0},{
+          -120,0}}, color={0,0,127}));
+  connect(gai1.u, div2.y)
+    annotation (Line(points={{-22,-30},{-38,-30}}, color={0,0,127}));
+  connect(gai1.y, add.u)
+    annotation (Line(points={{2,-30},{18,-30}}, color={0,0,127}));
+  connect(mul.y, k) annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(div1.y, mul.u1) annotation (Line(points={{-18,66},{48,66},{48,6},{58,
+          6}}, color={0,0,127}));
+  connect(mul.u2, add.y) annotation (Line(points={{58,-6},{48,-6},{48,-30},{42,
+          -30}}, color={0,0,127}));
+  annotation (defaultComponentName = "PIDGai",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the control gain of a PID model.</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+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 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.
+</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
@@ -0,0 +1,109 @@
+within Buildings.Controls.OBC.Utilities.PIDWithAutotuning.AutoTuner.AMIGO.BaseClasses;
+block PIDIntegralTime "Identify the integral time of a PID controller"
+  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 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 the FOPTD model"
+    annotation (Placement(transformation(extent={{-140,-80},{-100,-40}}),
+        iconTransformation(extent={{-140,-80},{-100,-40}})));
+  Buildings.Controls.OBC.CDL.Interfaces.RealOutput Ti(
+    final quantity="Time",
+    final unit="s",
+    min=100*Buildings.Controls.OBC.CDL.Constants.eps)
+    "Time constant signal for the integral term"
+    annotation (Placement(transformation(extent={{100,-20},{140,20}})));
+protected
+  Buildings.Controls.OBC.CDL.Reals.Add add1
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{-20,-40},{0,-20}})));
+  Buildings.Controls.OBC.CDL.Reals.Add add2
+    "Block that calculates the sum of the two inputs"
+    annotation (Placement(transformation(extent={{-20,10},{0,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Divide div
+    "Block that calculates input 1 divided by input 2"
+    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai1(
+    final k=0.4)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai2(
+    final k=0.8)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-80,50},{-60,70}})));
+  Buildings.Controls.OBC.CDL.Reals.MultiplyByParameter gai3(
+    final k=0.1)
+    "Block that calculates the product of a constant and the input"
+    annotation (Placement(transformation(extent={{-80,10},{-60,30}})));
+  Buildings.Controls.OBC.CDL.Reals.Multiply mul
+    "Block that calculates the two inputs"
+    annotation (Placement(transformation(extent={{60,-10},{80,10}})));
+
+equation
+  connect(gai1.u, L) annotation (Line(points={{-82,-10},{-90,-10},{-90,-60},{
+          -120,-60}}, color={0,0,127}));
+  connect(gai3.u, T) annotation (Line(points={{-82,20},{-90,20},{-90,60},{-120,
+          60}}, color={0,0,127}));
+  connect(gai2.u, T) annotation (Line(points={{-82,60},{-120,60}},
+                color={0,0,127}));
+  connect(gai1.y, add2.u2) annotation (Line(points={{-58,-10},{-30,-10},{-30,14},
+          {-22,14}}, color={0,0,127}));
+  connect(add2.u1, gai2.y) annotation (Line(points={{-22,26},{-30,26},{-30,60},
+          {-58,60}}, color={0,0,127}));
+  connect(add1.u2, L) annotation (Line(points={{-22,-36},{-90,-36},{-90,-60},{
+          -120,-60}}, color={0,0,127}));
+  connect(add1.u1, gai3.y) annotation (Line(points={{-22,-24},{-40,-24},{-40,20},
+          {-58,20}}, color={0,0,127}));
+  connect(div.y, mul.u1)
+    annotation (Line(points={{42,0},{48,0},{48,6},{58,6}}, color={0,0,127}));
+  connect(mul.u2, L) annotation (Line(points={{58,-6},{50,-6},{50,-60},{-120,
+          -60}}, color={0,0,127}));
+  connect(mul.y, Ti)
+    annotation (Line(points={{82,0},{120,0}}, color={0,0,127}));
+  connect(div.u2, add1.y) annotation (Line(points={{18,-6},{10,-6},{10,-30},{2,
+          -30}},color={0,0,127}));
+  connect(div.u1, add2.y) annotation (Line(points={{18,6},{10,6},{10,20},{2,20}},
+                 color={0,0,127}));
+  annotation (defaultComponentName = "PIDIntTim",
+        Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-100,-100},{100,100}},
+          lineColor={0,0,127},
+          fillColor={255,255,255},
+          fillPattern=FillPattern.Solid),
+        Text(
+          extent={{-100,140},{100,100}},
+          textString="%name",
+          textColor={0,0,255})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    Documentation(revisions="<html>
+<ul>
+<li>
+June 1, 2022, by Sen Huang:<br/>
+First implementation<br/>
+</li>
+</ul>
+</html>", info="<html>
+<p>This block calculates the integral time of a PID model.</p>
+<h4>Main equations</h4>
+<p align=\"center\" style=\"font-style:italic;\">
+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 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.
+</p>
+</html>"));
+end PIDIntegralTime;