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disabled homotopy for #1221 #1222

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merged 14 commits into from
Nov 19, 2019
Merged

disabled homotopy for #1221 #1222

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d086656
disabled homotopy for #1221
Mathadon Oct 19, 2019
d2f8a53
removed whitespace
Mathadon Oct 19, 2019
a3451d3
Merge branch 'master' into issue1221_limiterHomotopy
Mathadon Nov 8, 2019
941a38f
Merge branch 'master' into issue1221_limiterHomotopy
Mathadon Nov 9, 2019
17cb3fe
debugging missing log file output in CI
Mathadon Nov 9, 2019
fe0efc1
Merge branch 'issue1221_limiterHomotopy' of github.com:ibpsa/modelica…
Mathadon Nov 9, 2019
306448e
Revert "debugging missing log file output in CI"
Mathadon Nov 9, 2019
e9b8098
udpated reference result for PIDHysteresisTimer
Mathadon Nov 9, 2019
860fc1c
Merge branch 'master' into issue1221_limiterHomotopy
mwetter Nov 13, 2019
c00ba9b
Merge branch 'master' into issue1221_limiterHomotopy
Mathadon Nov 14, 2019
ebec864
integrated limiter implementation in LimPID
Mathadon Nov 18, 2019
68851ff
Merge branch 'master' into issue1221_limiterHomotopy
Mathadon Nov 18, 2019
a3d70e7
Added comment to explain why block is implemented
mwetter Nov 19, 2019
7b83a6a
Corrected typo
mwetter Nov 19, 2019
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97 changes: 95 additions & 2 deletions IBPSA/Controls/Continuous/LimPID.mo
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -178,10 +178,11 @@ protected
annotation (
Placement(transformation(extent={{60,-80},{40,-60}})));

Modelica.Blocks.Nonlinear.Limiter limiter(
Limiter limiter(
final uMax=yMax,
final uMin=yMin,
final strict=strict) "Output limiter"
final strict=strict)
"Output limiter"
annotation (Placement(transformation(extent={{70,-10},{90,10}})));


Expand All @@ -191,6 +192,91 @@ protected
"Signal source for integrator reset"
annotation (Placement(transformation(extent={{-80,-90},{-60,-70}})));

// The block Limiter below has been implemented as it is introduced in MSL 3.2.3, but
// not all tools include MSL 3.2.3.
// See https://github.com/ibpsa/modelica-ibpsa/pull/1222#issuecomment-554114617
block Limiter "Limit the range of a signal"
parameter Real uMax(start=1) "Upper limits of input signals";
parameter Real uMin= -uMax "Lower limits of input signals";
parameter Boolean strict=false "= true, if strict limits with noEvent(..)"
annotation (Evaluate=true, choices(checkBox=true), Dialog(tab="Advanced"));
parameter Boolean limitsAtInit=true
"Has no longer an effect and is only kept for backwards compatibility (the implementation uses now the homotopy operator)"
annotation (Dialog(tab="Dummy"),Evaluate=true, choices(checkBox=true));
extends Modelica.Blocks.Interfaces.SISO;

equation
assert(uMax >= uMin, "Limiter: Limits must be consistent. However, uMax (=" + String(uMax) +
") < uMin (=" + String(uMin) + ")");

if strict then
y = smooth(0, noEvent(if u > uMax then uMax else if u < uMin then uMin else u));
else
y = smooth(0,if u > uMax then uMax else if u < uMin then uMin else u);
end if;
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{0,-90},{0,68}}, color={192,192,192}),
Polygon(
points={{0,90},{-8,68},{8,68},{0,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,0},{68,0}}, color={192,192,192}),
Polygon(
points={{90,0},{68,-8},{68,8},{90,0}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,-70},{-50,-70},{50,70},{80,70}}),
Text(
extent={{-150,-150},{150,-110}},
textString="uMax=%uMax"),
Line(
visible=strict,
points={{50,70},{80,70}},
color={255,0,0}),
Line(
visible=strict,
points={{-80,-70},{-50,-70}},
color={255,0,0})}),
Diagram(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{0,-60},{0,50}}, color={192,192,192}),
Polygon(
points={{0,60},{-5,50},{5,50},{0,60}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-60,0},{50,0}}, color={192,192,192}),
Polygon(
points={{60,0},{50,-5},{50,5},{60,0}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-50,-40},{-30,-40},{30,40},{50,40}}),
Text(
extent={{46,-6},{68,-18}},
lineColor={128,128,128},
textString="u"),
Text(
extent={{-30,70},{-5,50}},
lineColor={128,128,128},
textString="y"),
Text(
extent={{-58,-54},{-28,-42}},
lineColor={128,128,128},
textString="uMin"),
Text(
extent={{26,40},{66,56}},
lineColor={128,128,128},
textString="uMax")}));
end Limiter;


initial equation
if initType==Modelica.Blocks.Types.InitPID.InitialOutput then
gainPID.y = y_start;
Expand Down Expand Up @@ -336,6 +422,13 @@ Some parameters assignments in the instances have been made final.
revisions="<html>
<ul>
<li>
October 19, 2019, by Filip Jorissen:<br/>
Disabled homotopy to ensure bounded outputs
by copying the implementation from MSL 3.2.3 and by
hardcoding the implementation for <code>homotopyType=NoHomotopy</code>.
See <a href=\"https://github.com/ibpsa/modelica-ibpsa/issues/1221\">issue 1221</a>.
</li>
<li>
September 29, 2016, by Michael Wetter:<br/>
Refactored model.
</li>
Expand Down
6 changes: 3 additions & 3 deletions ...sources/ReferenceResults/Dymola/IBPSA_Controls_Continuous_Examples_PIDHysteresisTimer.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
last-generated=2018-06-22
last-generated=2019-11-09
statistics-simulation=
{
"linear": " ",
"nonlinear": " ",
"number of continuous time states": "2",
"numerical Jacobians": "0"
}
con.u_m=[2.931499938964844e+02, 2.898402099609375e+02, 2.868109436035156e+02, 2.840455017089844e+02, 2.815281677246094e+02, 2.792446899414062e+02, 2.771823425292969e+02, 2.753295288085938e+02, 2.736747131347656e+02, 2.722072448730469e+02, 2.709170227050781e+02, 2.697947387695312e+02, 2.717220458984375e+02, 2.772921752929688e+02, 2.824770812988281e+02, 2.873129577636719e+02, 2.918327026367188e+02, 2.96066162109375e+02, 3.000403747558594e+02, 3.037797546386719e+02, 3.073062744140625e+02, 3.106398315429688e+02, 3.132925109863281e+02, 3.131466674804688e+02, 3.131512145996094e+02, 3.131510925292969e+02, 3.131510925292969e+02, 3.131510925292969e+02, 3.131510620117188e+02, 3.131510620117188e+02, 3.131510314941406e+02, 3.131510009765625e+02, 3.131510009765625e+02, 3.131509704589844e+02, 3.131509094238281e+02, 3.1315087890625e+02, 3.131508483886719e+02, 3.131507873535156e+02, 3.131507568359375e+02, 3.131506958007812e+02, 3.131525268554688e+02, 3.131973266601562e+02, 3.132941284179688e+02, 3.134329528808594e+02, 3.136045227050781e+02, 3.138001098632812e+02, 3.140115966796875e+02, 3.134809265136719e+02, 3.117776794433594e+02, 3.102276611328125e+02, 3.088117065429688e+02, 3.075130310058594e+02, 3.063161315917969e+02, 3.052058715820312e+02, 3.041682739257812e+02, 3.031909484863281e+02, 3.022622680664062e+02, 3.013719482421875e+02, 3.005109252929688e+02, 3.049744567871094e+02, 3.103306274414062e+02, 3.134226379394531e+02, 3.133167724609375e+02, 3.131485900878906e+02, 3.131491394042969e+02, 3.131491088867188e+02, 3.131490783691406e+02, 3.131490478515625e+02, 3.131490173339844e+02, 3.131489868164062e+02, 3.131489562988281e+02, 3.131489562988281e+02, 3.1314892578125e+02, 3.1314892578125e+02, 3.1314892578125e+02, 3.131488952636719e+02, 3.1314892578125e+02, 3.1314892578125e+02, 3.1314892578125e+02, 3.131489562988281e+02, 3.131489562988281e+02, 3.131489868164062e+02, 3.131490173339844e+02, 3.131490478515625e+02, 3.131490783691406e+02, 3.131491088867188e+02, 3.13149169921875e+02, 3.131492004394531e+02, 3.131492614746094e+02, 3.131492919921875e+02, 3.131493530273438e+02, 3.131494140625e+02, 3.131494750976562e+02, 3.131495361328125e+02, 3.131495971679688e+02, 3.13149658203125e+02, 3.131497192382812e+02, 3.131497802734375e+02, 3.131498718261719e+02, 3.131499328613281e+02, 3.131499938964844e+02]
con.u_m=[2.931499938964844e+02, 2.898402099609375e+02, 2.868109436035156e+02, 2.840455017089844e+02, 2.815281677246094e+02, 2.792446899414062e+02, 2.771823425292969e+02, 2.753295288085938e+02, 2.736747131347656e+02, 2.722072448730469e+02, 2.709170227050781e+02, 2.697947387695312e+02, 2.717220458984375e+02, 2.772921752929688e+02, 2.824770812988281e+02, 2.873129577636719e+02, 2.918327026367188e+02, 2.96066162109375e+02, 3.000403747558594e+02, 3.037797546386719e+02, 3.073062744140625e+02, 3.106398315429688e+02, 3.132925109863281e+02, 3.131466674804688e+02, 3.131512145996094e+02, 3.131510925292969e+02, 3.131510925292969e+02, 3.131510925292969e+02, 3.131510620117188e+02, 3.131510620117188e+02, 3.131510314941406e+02, 3.131510009765625e+02, 3.131510009765625e+02, 3.131509704589844e+02, 3.131509094238281e+02, 3.1315087890625e+02, 3.131508483886719e+02, 3.131507873535156e+02, 3.131507568359375e+02, 3.131506958007812e+02, 3.131525268554688e+02, 3.131973266601562e+02, 3.132941284179688e+02, 3.134329528808594e+02, 3.136045227050781e+02, 3.138001403808594e+02, 3.140116577148438e+02, 3.134803466796875e+02, 3.117771301269531e+02, 3.102271728515625e+02, 3.088112487792969e+02, 3.075126037597656e+02, 3.063157653808594e+02, 3.052055358886719e+02, 3.041679382324219e+02, 3.03190673828125e+02, 3.022620239257812e+02, 3.013717346191406e+02, 3.005107116699219e+02, 3.049763488769531e+02, 3.103323669433594e+02, 3.134226379394531e+02, 3.133167724609375e+02, 3.131486206054688e+02, 3.131491394042969e+02, 3.131491394042969e+02, 3.131490783691406e+02, 3.131490478515625e+02, 3.131490173339844e+02, 3.131489868164062e+02, 3.131489562988281e+02, 3.131489562988281e+02, 3.1314892578125e+02, 3.1314892578125e+02, 3.131488952636719e+02, 3.131488952636719e+02, 3.1314892578125e+02, 3.1314892578125e+02, 3.1314892578125e+02, 3.1314892578125e+02, 3.131489562988281e+02, 3.131489868164062e+02, 3.131490173339844e+02, 3.131490478515625e+02, 3.131490783691406e+02, 3.131491088867188e+02, 3.13149169921875e+02, 3.131492004394531e+02, 3.131492614746094e+02, 3.131492919921875e+02, 3.131493530273438e+02, 3.131494140625e+02, 3.131494750976562e+02, 3.131495361328125e+02, 3.131495971679688e+02, 3.13149658203125e+02, 3.131497192382812e+02, 3.131497802734375e+02, 3.131498413085938e+02, 3.131499328613281e+02, 3.131499938964844e+02]
con.u_s=[3.131499938964844e+02, 3.131499938964844e+02]
time=[0e+00, 8.64e+04]
con.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 4.000964462757111e-01, 5.353429913520813e-01, 5.156108736991882e-01, 5.000187754631042e-01, 4.843146800994873e-01, 4.686800539493561e-01, 4.53165590763092e-01, 4.378383457660675e-01, 4.227559566497803e-01, 4.07978892326355e-01, 3.9356330037117e-01, 3.795678317546844e-01, 3.660500049591064e-01, 3.530589044094086e-01, 3.406482636928558e-01, 3.288666605949402e-01, 3.177599310874939e-01, 3.073725998401642e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 3.00000011920929e-01, 3.00000011920929e-01, 3.027593493461609e-01, 3.414360582828522e-01, 3.530188202857971e-01, 3.660250306129456e-01, 3.795422911643982e-01, 3.93537998199463e-01, 4.079533219337462e-01, 4.227307140827178e-01, 4.378128945827484e-01, 4.531392753124237e-01, 4.686513245105743e-01, 4.842873513698578e-01, 4.99985545873642e-01, 5.156839489936829e-01, 5.313203930854797e-01, 5.468342900276184e-01, 5.621618628501892e-01, 5.77243983745575e-01, 5.920221209526062e-01, 6.064366698265076e-01, 6.204313039779663e-01, 6.339501738548279e-01, 6.46941602230072e-01, 6.593520045280457e-01, 6.711337566375732e-01, 6.822402477264404e-01, 6.926271915435791e-01, 7.022541165351868e-01, 7.110830545425415e-01, 7.190787792205811e-01, 7.262097597122192e-01, 7.324482798576355e-01, 7.37769603729248e-01, 7.421529293060303e-01, 7.455797791481018e-01, 7.480376958847046e-01, 7.495173811912537e-01, 7.500106692314148e-01]
con.y=[0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 1e+00, 4.00081992149353e-01, 5.35348653793335e-01, 5.156134963035583e-01, 5.000161528587341e-01, 4.843102991580963e-01, 4.686746001243591e-01, 4.53165054321289e-01, 4.378353655338287e-01, 4.227547347545624e-01, 4.079819321632385e-01, 3.935560584068298e-01, 3.795717358589172e-01, 3.660544455051422e-01, 3.530621230602265e-01, 3.406396806240082e-01, 3.288702964782715e-01, 3.177606463432312e-01, 3.07371973991394e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 3.00000011920929e-01, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 0e+00, 1e+00, 1e+00, 3.00000011920929e-01, 3.00000011920929e-01, 3.027577102184296e-01, 3.414410054683685e-01, 3.530088365077972e-01, 3.660304546356201e-01, 3.795446455478668e-01, 3.935376703739167e-01, 4.079526066780089e-01, 4.227280616760253e-01, 4.378052353858948e-01, 4.531471133232117e-01, 4.68649297952652e-01, 4.842866957187653e-01, 4.999865591526031e-01, 5.156813263893127e-01, 5.313149690628052e-01, 5.468428730964661e-01, 5.621551275253296e-01, 5.772404074668884e-01, 5.920273065567017e-01, 6.064383387565613e-01, 6.204272508621216e-01, 6.339491009712219e-01, 6.469439268112183e-01, 6.593599319458008e-01, 6.711235046386719e-01, 6.822413206100464e-01, 6.92631721496582e-01, 7.022591829299927e-01, 7.110856771469116e-01, 7.190799713134766e-01, 7.262053489685059e-01, 7.324503064155579e-01, 7.377764582633972e-01, 7.421417236328125e-01, 7.455839514732361e-01, 7.480451464653015e-01, 7.495126128196716e-01, 7.499999403953552e-01]