369 lines
19 KiB
Plaintext
369 lines
19 KiB
Plaintext
package EmbeddedControl
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extends Modelica.Icons.Package;
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package Boundary
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model ADC
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extends Modelica.Blocks.Icons.DiscreteBlock;
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parameter Real stepSize = 0.1;
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parameter Real scale = 1;
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Modelica.Blocks.Interfaces.RealInput u annotation(
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Placement(transformation(origin = {-122, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.IntegerOutput y annotation(
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Placement(transformation(origin = {86, -34}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
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Placement(transformation(origin = {-130, -88}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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when tickInput then
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y_internal := integer(floor((scale*u)/stepSize+ 0.5));
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end when;
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equation
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y = y_internal;
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annotation(
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Documentation(info = "<html>
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<p>Integer analog-to-digital conversion block.</p>
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<p>The real-valued input <code>u</code> is quantized to an integer code using:</p>
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<p><code>y = floor((scale*u)/stepSize + 0.5)</code></p>
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<p>This produces a rounded integer representation of the scaled input, intended for embedded-style control chains that operate on integer counts.</p>
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<p>Parameters:</p>
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<ul>
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<li><code>stepSize</code>: physical value represented by one integer step</li>
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<li><code>scale</code>: additional scaling applied before quantization</li>
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</ul>
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</html>"),
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Icon(graphics = {Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {255, 85, 0}, thickness = 1.25), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "AD")}));
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end ADC;
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model DAC
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extends Modelica.Blocks.Icons.DiscreteBlock;
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parameter Real stepSize = 0.1;
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parameter Real scale = 1;
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Modelica.Blocks.Interfaces.IntegerInput u annotation(
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Placement(transformation(origin = {-136, -2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.RealOutput y annotation(
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Placement(transformation(origin = {126, 10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
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Placement(transformation(origin = {-130, -88}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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protected
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discrete Real yReal(start = 0, fixed = true);
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algorithm
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when tickInput then
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yReal := (stepSize * scale) * u;
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end when;
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equation
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y = yReal;
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annotation(
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Documentation(info = "<html>
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<p>Integer digital-to-analog conversion block.</p>
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<p>The integer input <code>u</code> is mapped back to a real-valued physical signal using:</p>
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<p><code>y = (stepSize*scale)*u</code></p>
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<p>When used with matching parameter values, this block acts as the inverse conversion of the ADC block.</p>
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<p>Parameters:</p>
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<ul>
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<li><code>stepSize</code>: physical value represented by one integer step</li>
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<li><code>scale</code>: output scaling factor</li>
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</ul>
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</html>"),
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Diagram(graphics),
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Icon(graphics = {Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {0, 0, 127}, thickness = 1.25, smooth = Smooth.Bezier), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "DA")}));
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end DAC;
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extends Modelica.Icons.Package;
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model tickGenerator
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extends Modelica.Blocks.Interfaces.partialBooleanSource;
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Modelica.Blocks.Interfaces.IntegerOutput tickPeriodUs annotation(
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Placement(transformation(origin = {134, -58}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, -80}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Sources.SampleTrigger sampleTrigger(period = period) annotation(
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Placement(transformation(extent = {{-10, -10}, {10, 10}})));
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parameter Modelica.Units.SI.Time period = 0.1;
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equation
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tickPeriodUs = integer(period*1000*1000);
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connect(sampleTrigger.y, y) annotation(
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Line(points = {{12, 0}, {110, 0}}, color = {255, 0, 255}));
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annotation(
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Diagram(graphics),
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Icon(graphics = {Line(points = {{-60, -70}, {-60, 70}}), Line(points = {{-20, -70}, {-20, 70}}), Line(points = {{20, -70}, {20, 70}}), Line(points = {{60, -70}, {60, 70}})}));
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end tickGenerator;
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annotation(
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Icon(graphics = {Line(origin = {-48.92, -4.33}, points = {{-35.0829, -47.6744}, {-17.0829, 18.3256}, {-3.08288, -9.6744}, {10.9171, 48.3256}, {34.9171, 14.3256}, {34.9171, 14.3256}}, color = {0, 0, 127}, thickness = 1.5, smooth = Smooth.Bezier), Line( points = {{0, 81}, {0, -81}}, pattern = LinePattern.Dash, thickness = 2.75), Line(origin = {54, -10}, points = {{-36, -42}, {-36, -20}, {-30, -20}, {-30, -10}, {-20, -10}, {-20, 10}, {-6, 10}, {-6, 4}, {6, 4}, {6, 42}, {28, 42}, {28, 18}, {36, 18}, {36, 6}, {36, 6}}, color = {255, 85, 0}, thickness = 1.5)}));
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end Boundary;
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package Math
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extends Modelica.Icons.Package;
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model DDifference
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if tickUpdate then
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y_internal := u - pre(x);
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x := u;
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end if;
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equation
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y = y_internal;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Text(textColor = {156, 156, 156}, extent = {{-30, 14}, {86, 60}}, textString = "D"), Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Line(origin = {-9, -4}, points = {{-63, 66}, {-63, 40}, {-53, 40}, {-53, -20}, {-39, -20}, {-39, -54}, {3, -54}, {3, -66}, {63, -66}, {63, -66}}, color = {255, 85, 0}, thickness = 0.5)}));
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end DDifference;
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model DAccumulate
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if tickUpdate then
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y_internal := u + pre(y_internal);
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end if;
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equation
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y = y_internal;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Text(textColor = {156, 156, 156}, extent = {{0, -70}, {60, -10}}, textString = "A"), Line(origin = {-2, -1}, points = {{-70, -73}, {-70, -53}, {-48, -53}, {-48, -33}, {-26, -33}, {-26, -9}, {-2, -9}, {-2, 11}, {22, 11}, {22, 33}, {46, 33}, {46, 57}, {70, 57}, {70, 73}}, color = {255, 85, 0}, thickness = 0.5)}));
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end DAccumulate;
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model UnitDelay
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if tickUpdate then
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y_internal := pre(x);
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x := u;
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end if;
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equation
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y = y_internal;
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annotation(
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Icon(graphics = {Text(textColor = {255, 85, 0},extent = {{-100, 100}, {100, -100}}, textString = "z"), Text(origin = {58, 50}, textColor = {255, 85, 0}, extent = {{-24, 22}, {24, -22}}, textString = "-1")}));
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end UnitDelay;
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model Gain
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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parameter Integer k = 1;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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y_internal := k * u;
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equation
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y = y_internal;
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annotation(
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Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k")}),
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Diagram(graphics));
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end Gain;
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model FractionalGain
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extends Bases.discreteIntegerSISO;
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parameter Integer k = 1;
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parameter Integer f = 1;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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y_internal := div((k*u),f);
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equation
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y = y_internal;
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annotation(
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Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k f=%f")}),
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Diagram(graphics));
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end FractionalGain;
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model DDifferentiate
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
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parameter Integer scaleNumerator = 1000000;
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outer Integer tickPeriodUs;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if tickUpdate then
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y_internal := integer((u - pre(x))*scaleNumerator / tickPeriodUs);
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x := u;
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end if;
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equation
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y = y_internal;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Text(textColor = {156, 156, 156}, extent = {{-30, 14}, {86, 60}}, textString = "DT1"), Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Line(origin = {-9, -4}, points = {{-63, 66}, {-63, 40}, {-53, 40}, {-53, -20}, {-39, -20}, {-39, -54}, {3, -54}, {3, -66}, {63, -66}, {63, -66}}, color = {255, 85, 0}, thickness = 0.5)}),
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experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
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end DDifferentiate;
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model DIntegrate
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extends Bases.discreteIntegerSISO;
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discrete Integer y_internal(start = 0, fixed = true);
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parameter Integer scaleDenominator = 1000000;
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outer Integer tickPeriodUs;
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algorithm
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if tickUpdate then
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y_internal := u + pre(y_internal);
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end if;
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equation
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y = integer(y_internal*tickPeriodUs / scaleDenominator);
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annotation(
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Diagram(graphics),
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Icon(graphics = {Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Text(textColor = {156, 156, 156}, extent = {{0, -70}, {60, -10}}, textString = "I"), Line(origin = {-2, -1}, points = {{-70, -73}, {-70, -53}, {-48, -53}, {-48, -33}, {-26, -33}, {-26, -9}, {-2, -9}, {-2, 11}, {22, 11}, {22, 33}, {46, 33}, {46, 57}, {70, 57}, {70, 73}}, color = {255, 85, 0}, thickness = 0.5)}));
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end DIntegrate;
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model ScaledGain
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extends Bases.discreteIntegerSISO;
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parameter Integer k = 1;
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parameter Integer scaleNumerator = 1000000;
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parameter Integer scaleDenominator = 1000000;
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outer Integer tickPeriodUs;
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parameter Boolean scaleMode = false;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if scaleMode then
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y_internal := integer(u * k * tickPeriodUs / scaleDenominator);
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else
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y_internal := integer(u * k * scaleNumerator / tickPeriodUs);
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end if;
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equation
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y = y_internal;
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annotation(
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Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k")}),
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Diagram(graphics));
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end ScaledGain;
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model Limiter
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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parameter Integer limit = 100;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if u > limit then
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y_internal := limit;
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elseif u < -limit then
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y_internal := -limit;
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else
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y_internal := u;
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end if;
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equation
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y = y_internal;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Line(points = {{0, -90}, {0, 68}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {192, 192, 192}, fillPattern = FillPattern.Solid, points = {{0, 90}, {-8, 68}, {8, 68}, {0, 90}}), Line(points = {{-90, 0}, {68, 0}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {192, 192, 192}, fillPattern = FillPattern.Solid, points = {{90, 0}, {68, -8}, {68, 8}, {90, 0}}), Line(origin = {-36, -36}, points = {{-46, -24}, {-8, -24}, {-8, -8}, {8, -8}, {8, 10}, {22, 10}, {22, 24}, {22, 24}}, color = {255, 85, 0}, thickness = 0.5), Line(origin = {34.5, 20}, points = {{-48.5, -32}, {-34.5, -32}, {-34.5, -20}, {-20.5, -20}, {-20.5, -4}, {-2.5, -4}, {-2.5, 16}, {11.5, 16}, {11.5, 32}, {49.5, 32}, {27.5, 32}}, color = {255, 85, 0}, thickness = 0.5)}));
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end Limiter;
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annotation(
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Icon(graphics = {Line(origin = {-0.95, 0.62}, points = {{-75.0496, -68.6246}, {-61.0496, 1.37545}, {-29.0496, 69.3754}, {-5.04956, 1.37545}, {20.9504, -64.6246}, {50.9504, -2.62455}, {74.9504, 65.3754}, {74.9504, 65.3754}}, color = {255, 85, 0}, thickness = 2, smooth = Smooth.Bezier)}));
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end Math;
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package Bases
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extends Modelica.Icons.BasesPackage;
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partial model ControlBase
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extends Modelica.Blocks.Icons.DiscreteBlock;
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Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
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Placement(iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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Modelica.Blocks.Interfaces.IntegerInput tickPeriodIn annotation(
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Placement(iconTransformation(origin = {-80, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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protected
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inner Boolean tickUpdate;
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inner Integer tickPeriodUs;
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inner Integer tickPeriodMs;
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inner Integer tickPeriodS;
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algorithm
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if tickInput then
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if pre(tickInput) then
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tickUpdate := false;
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else
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tickUpdate := true;
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end if;
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else
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tickUpdate := false;
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end if;
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equation
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tickPeriodUs = tickPeriodIn;
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tickPeriodMs = tickPeriodUs/1000;
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tickPeriodS = tickPeriodMs/1000;
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end ControlBase;
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partial model discreteInteger
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extends Modelica.Blocks.Icons.DiscreteBlock;
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outer Boolean tickUpdate;
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end discreteInteger;
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partial model discreteIntegerSISO
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extends EmbeddedControl.Bases.discreteInteger;
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Modelica.Blocks.Interfaces.IntegerInput u annotation(
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Placement(transformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.IntegerOutput y annotation(
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Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
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equation
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end discreteIntegerSISO;
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equation
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end Bases;
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package Util
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extends Modelica.Icons.UtilitiesPackage;
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model PID
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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parameter Integer kP = 1;
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parameter Integer kI = 1;
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parameter Integer kD = 1;
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parameter Integer scale = 1000000;
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EmbeddedControl.Math.Gain P(k = kP) annotation(
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Placement(transformation(extent = {{-10, -10}, {10, 10}})));
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EmbeddedControl.Math.DDifferentiate dDifferentiate(scaleNumerator = scale) annotation(
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Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.MathInteger.Sum sum1(nu = 3) annotation(
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Placement(transformation(origin = {50, 0}, extent = {{-10, -10}, {10, 10}})));
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EmbeddedControl.Math.Gain D(k = kD) annotation(
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Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
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EmbeddedControl.Math.DIntegrate dIntegrate(scaleDenominator = scale) annotation(
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Placement(transformation(origin = {-38, -40}, extent = {{-10, -10}, {10, 10}})));
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EmbeddedControl.Math.Gain I(k = kI) annotation(
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Placement(transformation(origin = {0, -40}, extent = {{-10, -10}, {10, 10}})));
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protected outer Boolean tickUpdate;
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equation
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connect(P.y, sum1.u[1]) annotation(
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Line(points = {{11, 0}, {40, 0}}, color = {255, 127, 0}));
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connect(dDifferentiate.y, D.u) annotation(
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Line(points = {{-29, 40}, {-12, 40}}, color = {255, 127, 0}));
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connect(D.y, sum1.u[2]) annotation(
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Line(points = {{11, 40}, {20, 40}, {20, 0}, {40, 0}}, color = {255, 127, 0}));
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connect(dIntegrate.y, I.u) annotation(
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Line(points = {{-27, -40}, {-12, -40}}, color = {255, 127, 0}));
|
|
connect(I.y, sum1.u[3]) annotation(
|
|
Line(points = {{11, -40}, {19, -40}, {19, 0}, {40, 0}}, color = {255, 127, 0}));
|
|
connect(u, dDifferentiate.u) annotation(
|
|
Line(points = {{-100, 0}, {-70, 0}, {-70, 40}, {-52, 40}}, color = {255, 127, 0}));
|
|
connect(u, P.u) annotation(
|
|
Line(points = {{-100, 0}, {-12, 0}}, color = {255, 127, 0}));
|
|
connect(u, dIntegrate.u) annotation(
|
|
Line(points = {{-100, 0}, {-70, 0}, {-70, -40}, {-50, -40}}, color = {255, 127, 0}));
|
|
connect(sum1.y, y) annotation(
|
|
Line(points = {{62, 0}, {100, 0}}, color = {255, 127, 0}));
|
|
annotation(
|
|
Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "PID")}),
|
|
Diagram(coordinateSystem(extent = {{-120, 60}, {120, -60}})));
|
|
end PID;
|
|
end Util;
|
|
annotation(
|
|
Icon(graphics = {Text(origin = {1, 1}, textColor = {255, 170, 0}, extent = {{-99, 99}, {99, -99}}, textString = "EC", textStyle = {TextStyle.Bold})}),
|
|
uses(Modelica(version = "4.1.0")));
|
|
end EmbeddedControl; |