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<html><head><title>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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<a name="getting_started_with_the_autotunerPID_toolbox"></a><a name="12880"></a><h1>Getting Started with the AutotunerPID Toolkit</h1>
<hr>
<table width="100%" border="0" cellpadding="5">
<tr><td valign="top" width=300><a href="autopid_sim.html#t1">Layout of the Control System</a></td>
<td valign="top" width=600>Overview of the control system simulated by the AutotunerPID Toolkit</td>
<tr><td valign="top" width=300><a href="autopid_si2.html">Setting up the Simulation</a><br></td>
<td valign="top" width=600>Summary of the most important steps to set up the initial condition for the simulation<br></td>
<tr><td valign="top" width=300><a href="autopid_si3.html">PID Control Panel</a><br></td>
<td valign="top" width=600>Description of the interface to control the PID behavior<br></td>
<tr><td valign="top" width=300 class=topiclist><a href="autopid_si4.html">Environment Panel</a><br></td>
<td valign="top" width=600>Description of the interface to control the environment behavior<br></td>
</table>
<a name="layout_control_system"></a><a name="t1"></a><!-- H1 -->
<p><font size=+2 color="#990000"><b>Layout of the Control System</b></font><br>
<p>The AutotunerPID Toolkit simulates a single SISO control loop, which includes a PID with autotuner,
the plant to be controlled, a lowpass filter and some auxiliary blocks to manage the simulation (for
example change the set-point or perform the autotuning or include a measurement noise).</p>
<p>The main component of the Toolkit is the Simulink file <font face="Courier New, Courier, mono">autotunerPID.mdl</font></p>
<table width="100%" border="0">
<tr><td align="center"><img src="images/SimulinkSchema.png"></td></tr>
</table>
<p>The following sections describe the role of each blocks in the model. You can view the
general AutotunerPID Function reference in <a href="autopid_ref.html">Function Reference</a>.</p>
<p><ul><table border=1 cellspacing=0 cellpadding=5 width="90%"><tr>
<td bgcolor="#ffe4b0"><b>Note </b> For more information about PID Autotuning, see <a href="autopid_int.html">Introduction
to PID Autotuning</a>.</td>
</tr></table></ul></p>
<br>
<p><a name="PID_with_Autotuning"></a><!-- H2 --><a name="t2"></a></p>
<p><font size=+1 color="#990000"><b>PID with Autotuning</b></font><br>
<p>The regulator is a subsystem composed by two S-functions: <font face="Courier New, Courier, mono">pid_isatd.m</font>
which implements a discrete time ISA-PID and <font face="Courier New, Courier, mono">pid_autotuner.m</font> which
takes in charge the autotuning process.</p>
<table width="100%" border="0">
<tr><td align="center"><img src="images/PIDwithAutotuner.png"></td></tr>
</table>
<p><font color="#990000"><b>Discrete time ISA-PID (<font face="Courier New, Courier, mono"><a href="pid_isatd.html">pid_isatd.m</a></font>)</b></font>
<p>The discrete time ISA-PID includes the filter on the derivative action, the set-point weight (but not the weight
of the derivative action which is fixed to <font face="Courier New, Courier, mono">c=0</font>). Moreover the PID
implements antiwindup on lower and higher saturation limits of the actuator and bumpless auto-manual switch. The
structure of this "industrial PID" is more complex than the structure of the "scholastic PID" and it closely
resemble the functioning of regulators used in practice.</p>
<br>
<p><font color="#990000"><b>Autotuner Supervisor (<font face="Courier New, Courier, mono"><a href="pid_autotuner.html">pid_autotuner.m</a></font>)</b></font>
<p>The autotuner supervisor, instead, rules out the autotuning process mainly
performing the identification of a FOPDT process model (<font face="Courier New, Courier, mono"><a href="idareas.html">idareas.m</a></font>)
or a set of characteristics (<font face="Courier New, Courier, mono"><a href="pid_autotuner.html">pid_autotuner.m</a></font>)
and the synthesis of the new parameters with the methods described (<font face="Courier New, Courier, mono"><a href="pid_tuning.html">pid_tuning.m</a></font>).
Moreover it is possible to constrain the structure of the
regulator to be a PI or a PID, or the structure can be automatically selected
by the supervisor (<font face="Courier New, Courier, mono"><a href="pid_structure.html">pid_structure.m</a></font>).
In particular, the identification experiment includes both step response and
relay response with tunable hysteresis and amplitude.</p>
<br>
<p><a name="Plant"></a><!-- H2 --><a name="t3"></a></p>
<p><font size=+1 color="#990000"><b>Plant</b></font><br>
<p>The plant is a subsystem which model the process that must be controlled</p>
<table width="100%" border="0">
<tr><td align="center"><img src="images/Plant.png"></td></tr>
</table>
<p>The structure of the plant has been left open by purpose. The user can thus include his own plant in the
simulator since there is no constrain on it: the plant can be linear or nonlinear, continuous or discrete time and so
on. However, the <a href="autopid_si4.html#t2">comparative analysis</a> of a step responses and Bode diagrams
is available only for linear plants (for obvious reasons).</p>
<p><ul><table border=1 cellspacing=0 cellpadding=5 width="90%"><tr>
<td bgcolor="#ffe4b0"><b>Note </b> The comparative analysis is available only when the model is NOT running and
for linear plants. Moreover the name of the blocks inside the Plant subsystem should not be changed since they are used as
references in the functions performing this analysis</a></td>
</tr></table></ul></p>
<br>
<p><a name="PID_Panel"></a><!-- H2 --><a name="t4"></a></p>
<p><font size=+1 color="#990000"><b>PID Control Panel</b></font><br>
<p>The <a href="autopid_si3.html">PID Control Panel</a> is implemented through a masked S-function
(<font face="Courier New, Courier, mono"><a href="autogui.html">autogui.m</a></font>),
which uses the graphical primitives of the MATLAB environment to create a GUI which has a close feeling to that of a real PID.
The aim of this interface is to provide all the inputs and outputs typical of a real industrial PID.</p>
<br>
<p><a name="Env_Panel"></a><!-- H2 --><a name="t5"></a></p>
<p><font size=+1 color="#990000"><b>Environment Panel</b></font><br>
<p>The <a href="autopid_si4.html">Environment Panel</a> is implemented through a masked S-function
(<font face="Courier New, Courier, mono"><a href="envgui.html">envgui.m</a></font>).
It controls the parameter of the simulation which are not under direct control of the user, so that they cannot be
included in the PID control panel. For example a measurement noise or a step on the load disturbance can be included.
<p>Moreover, through the environment control panel, a <a href="autopid_si4.html#t2">comparative analysis</a>
of all the autotuning methods can be performed, both in time domain and in frequency domain.</p>
<br>
<p><a name="Butt_Filt"></a><!-- H2 --><a name="t6"></a></p>
<p><font size=+1 color="#990000"><b>Butterworth Analog Filter</b></font><br>
<p>The lowpass Butterworth analog filter in the control loop is used as an antialiasing
filter and also to reduce the effects of the measurement noise. The order of the filter and the bandwidth can be set by
the user (<font face="Courier New, Courier, mono"><a href="butterdesign.html">butterdesign.m</a></font>).</p>
<br>
<p><a name="Service_Blocks"></a><!-- H2 --><a name="t7"></a></p>
<p><font size=+1 color="#990000"><b>Service Blocks</b></font><br>
<p>The remaining blocks are inserted just to have a fully functional environment.</p>
<ul>
<li><strong>set-point</strong>: the desired value of the process value;</li>
<li><strong>LoadDisturbance</strong>: a value added to the output of the plant;</li>
<li><strong>MeasurementNoise</strong>: a white gaussian noise added to the measure of the process value;</li>
<li><strong>SP-PV-CV</strong>: a scope block which displays the value of the <em>Set Point</em> SP (yellow),
<em>Process Value</em> PV (magenta) and <em>Control Variable</em> CV (cyan).</li>
</ul>
<p>
<ul><table border=1 cellspacing=0 cellpadding=5 width="90%"><tr>
<td bgcolor="#ffe4b0"><b>Note </b> The GUIs control the value of the <em>set-point</em>, <em>load
disturbance</em> and
<em>measurement noise</em> through a reference to the name of the corresponding blocks. It is suggested
that you DON'T change the name of this block. If you do this, you must also change the references
in the masks of the block "PID Control Panel" and
"Environment Panel"</a></td>
</tr></table></ul>
</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_in4.html"><img src="b_prev.gif" alt="Previous page" border=0 align=bottom></a> </td><td align=left> Synthesis methods</td><td> </td><td align=right>Setting up the Simulation </td><td align=right width=20><a href="autopid_si2.html"><img src="b_next.gif" alt="Next page" border=0 align=bottom></a></td></tr></table>
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