ModSlaveSim help v3.06 - 4.3.5. Room heater - PI controller
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This example is similar to the Room Heater - proportional controller, but uses a PI controller (using the velocity algorithm template) to remove the residual error. (The environment is identical and is explained in the first simulation.)
(To load this simulation select the file Room heater PI controller from File->Simulation Examples....)
When ready to start press Run Slave Simulation. Press it again to stop or pause the simulation.
Notice, when you run the simulation, that the heater output has already stabilized and the room temperature has also stabilized, but this time at the desired temperature (Temp Set Point) of 20 (unlike the proportional controller, which can only get close to the desired temperature).
Now try changing either the outside temperature to -5, or the desired temperature to 30. The room temperature reaches the desired temperature, but overshoots and oscillates around the desired temperature before eventually becoming steady again.
For further guidelines see Running Example Simulations
The table below shows the simple program underlying the simulation.
Table 6. Slave 1: heater controller
|Register Address||Register Name||Statement||Notes|
if $$ + $3 < 0 then 0 else if $$ + $3 > 1.0 then 1.0 else $$ + $3
|$1||Temp Set Point||SP|
|$3||Heater OP Increment||
0.3 * (($1 - $41) - $2 + 0.1 * CycleTime * ($1 - $41))
$$ + (3000 * $0 + 105 * ($40 - $$ )) * CycleTime / 15000
Heater OP. As in the previous simulation the upper and lower limits are implicit here as constants 0 and 1 - there is no separate register for 'CO Min' or 'CO Max' as in the template program for the PI controller (using the velocity algorithm).
Heater OP Increment. The constant 0.4 in the statement is the controller gain Kc, and the constant 0.1 is the integrating constant Ki (see technique PI controller using the velocity algorithm).
OutsideTemp, RoomTemp See on-off controller example for an explanation.
The correspondence between register names and names in the techniques section is contained in the Notes column.