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<html><head><title>Setting up the simulation :: Getting started with AutotunerPID Toolkit (AutotunerPID Toolkit)</title>
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<td valign=baseline bgcolor="#ffe4b0"><b>AutotunerPID Toolkit</b></td>
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<p><font size=+2 color="#990000"><b>Setting up the Simulation</b></font><br>
<p>The parameters of the simulation can be adjusted by the user both through the classical Simulink
menu and with a set of block masks.
</p>
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<p><font size=+1 color="#990000"><b>Simulation Control</b></font><br>
<p><font color="#990000"><b>Running the simulation</b></font>
<p>The simulation is started, stopped and paused with the classical Simulink menu or with toolbar buttons.</p>
<p><font color="#990000"><b>Simulation Parameters</b></font>
<p>The simulation parameters are setted on the <em>Simulation Parameters</em> dialog box, accessible through the
Simulation menu. In particular, the <em>stop time</em> is set to a very high value to reproduce the effects of a simulation
running continuously, while the <em>solver</em> is the <font face="Courier New, Courier, mono">ode45</font> to allow a plant
with a general structure.</p>
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<p><font size=+1 color="#990000"><b>Initialization of the Autotuner</b></font><br>
<p>The parameters of the regulator can be initialized through the mask of the block <em>PID with Autotuning</em>.</p>
<table width="100%" border="0">
<tr><td align="center"><img src="images/MaskPID.png"></td></tr>
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<p><font color="#990000"><b>Initial PID parameters</b></font>
<p>The first part of the mask allow to set the initial value of the ISA-PID parameters
(<font face="Courier New, Courier, mono">K</font>, <font face="Courier New, Courier, mono">Ti</font>,
<font face="Courier New, Courier, mono">Td</font>, <font face="Courier New, Courier, mono">N</font>,
<font face="Courier New, Courier, mono">b</font>). The weight of the derivative action is fixed
(<font face="Courier New, Courier, mono">c=0</font>), so that it does not appear in the mask.</p>
<p><font color="#990000"><b>Antiwindup saturation</b></font>
<p>The lower and higher limits on the control variable are given as a vector in the corresponding text field.
To disable antiwindup set the limit to <font face="Courier New, Courier, mono">[-inf, inf]</font>.</p>
<p><font color="#990000"><b>Sample time</b></font>
<p>The choice of the sample time is related to the process characteristics. In general, small sample
times mean a slow simulations, while large semple times mean fast simulations. However, the discretization
of the PID adds a delay to the loop which grows with the sample time, so that the effective behavior
of the control systems can be very different from the expected one (computed with respect to a continuos
time regulator).</p>
<p><font color="#990000"><b>Identification experiment</b></font>
<p>The last part of the mask allows to set the characteristics of the identification experiment:
<ul>
<li>the <em>amplitude of the control step</em> for open loop experiment or the <em>amplitude of the relay</em>
(positive and negative) for closed loop experiment;</li>
<li>the <em>hystheresis level</em> of the relay included to reduce the spurious commutations due to measurement
noise in closed loop experiment.</li>
</ul>
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<p><font size=+1 color="#990000"><b>Butterworth filter</b></font><br>
<p>The parameters of the lowpass Butterworth analog filter can be initialized through the mask of the block <em>Butterworth Analog Filter</em>.</p>
<table width="100%" border="0">
<tr><td align="center"><img src="images/MaskButter.png"></td></tr>
</table>
<p>In general, the <em>order</em> of the filter should be small enough to keep low the additional phase
lag (typically 2 or 3). Similarly the <em>bandwidth</em> should not be too small, even the effect of
measurement noise are best counteracted by a small bandwidth.</p>
<br>
<p><table bgcolor="#ffe4b0" border=0 width="100%" cellpadding=0 cellspacing=0><tr valign=top><td align=left width=20><a href="autopid_sim.html"><img src="b_prev.gif" alt="Previous page" border=0 align=bottom></a> </td><td align=left> Layout of the Control System</td><td> </td><td align=right>PID Control Panel </td><td align=right width=20><a href="autopid_si3.html"><img src="b_next.gif" alt="Next page" border=0 align=bottom></a></td></tr></table>
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