Proportional - Integral - Differential Regulator
by Louis Laret
An explanitory diagram can be found in the source code for this
component. Also shown there are the inputs, outputs, and parameters.
PID ALGORITHM:
T = current time
dT = time step
ER t = X 1 - X 2
ERO = ER t - dT
SP = KP * ER
ER + ERO
DSI t = ----------
2
last desaturation
SIO t = SUMMATION ( DSI t)
K = 1
SI = SID + DSI t
ER + ERO
SD = KD ---------
dT
FOR ISAT < 0: S = SP + SI + SD
FOR ISAT = -1: |S|, |SP|, |SI|, |SD| <= 1 and 0<=S<=1
FOR ISAT = 0:
SP + SI + SD
S = 0.5 + ---------------
2.0
with |SP|, |SI|, |SD|<=1.0 and 0<=S<=1
DES is a desaturating flag, when all other units have converged,
if ISAT > -2, DES = 1 which means that desaturation is required,
at the beginning of the next step, OSIO is reset to O.
Ref: Type 37: P-I-D Regulator Louis Laret
Centre De Recherche De Sophia Antipolis B.P. 21-06561 Valbonne Cedex
July 1988