ADDED mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_abg.fig Index: mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_abg.fig ================================================================== --- /dev/null +++ mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_abg.fig @@ -0,0 +1,34 @@ +#FIG 3.2 +Portrait +Center +Metric +A4 +100.00 +Single +-2 +1200 2 +2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 + 2025 2700 3375 2700 3150 2925 +2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 + 3600 2475 3600 1125 3825 1350 +2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 + 3825 2700 5175 2700 4950 2925 +2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 + 3825 900 5175 900 4950 1125 +2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 + 3375 900 2025 900 2250 1125 +2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 + 6525 3375 900 3375 900 450 6525 450 6525 3375 +2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 + 5175 2475 5175 2925 +2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 + 2025 2475 2025 2925 +4 1 0 100 0 18 18 0.0000 4 195 150 3600 2790 0\001 +4 2 4 100 0 18 18 0.0000 4 270 825 1935 2790 SS:[in]\001 +4 0 4 100 0 18 18 0.0000 4 270 930 5310 2790 SS:[out]\001 +4 1 1 101 0 3 24 0.0000 4 165 195 4500 2520 u\001 +4 1 1 101 0 3 24 0.0000 4 240 165 4545 3015 y\001 +4 1 1 101 0 3 24 0.0000 4 165 240 2520 3015 w\001 +4 1 0 100 0 18 18 0.0000 4 195 150 3600 990 1\001 +4 1 0 100 0 18 18 0.0000 4 270 675 5670 990 C:k_i\001 +4 1 0 100 0 18 18 0.0000 4 270 765 1575 945 R:k_p\001 ADDED mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_desc.tex Index: mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_desc.tex ================================================================== --- /dev/null +++ mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_desc.tex @@ -0,0 +1,30 @@ +% -*-latex-*- Put EMACS into LaTeX-mode +% Verbal description for system PIe (PIe_desc.tex) +% Generated by MTT on Wed May 15 10:28:28 BST 2002. + +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% %% Version control history +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% %% $Id$ +% %% $Log$ +% %% Revision 1.1 2000/12/28 09:13:38 peterg +% %% Initial revision +% %% +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + The acausal bond graph of system \textbf{PIe} is + displayed in Figure \Ref{fig:PIe_abg.ps} and its label + file is listed in Section \Ref{sec:PIe_lbl}. + +\textbf{PIe} implements a collocated PI controller where: +\begin{description} +\item[w] is the (flow) setpoint at port [w] +\item[y] is the (flow) system output at port [yu] +\item[u] is the (effort) system input (control signal) at port [yu] +\end{description} + +The controller transfer-function is: +\begin{equation} + u(s) = \left [ k_p + \frac{k_i}{s} \right ] e(s) +\end{equation} +where the \emph{error} $e(s) = w(s) - y(s)$. ADDED mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_lbl.txt Index: mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_lbl.txt ================================================================== --- /dev/null +++ mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_lbl.txt @@ -0,0 +1,50 @@ +#SUMMARY PIe: PI controller with effort output +#DESCRIPTION Implements collocated PI controller with: +#DESCRIPTION w (flow) setpoint at in-port +#DESCRIPTION y (flow) measurement at out-port +#DESCRIPTION u (effort) control at out-port + + +## System PIe, representation lbl, language txt +## File PIe_lbl.txt +## Generated by MTT on Wed May 15 10:17:13 BST 2002 + + ###################################### + ##### Model Transformation Tools ##### + ###################################### + + ############################################################### + ## Version control history + ############################################################### + ## $Id$ + ## $Log$ + ## Revision 1.2 2001/07/03 22:59:10 gawthrop + ## Fixed problems with argument passing for CRs + ## + ############################################################### + +## Port aliases +#ALIAS w in +#ALIAS yu out + +## Argument aliases +#ALIAS $1 k_i +#ALIAS $2 k_p + +## Each line should be of one of the following forms: +## a comment (ie starting with #) +## component-name cr_name arg1,arg2,..argn +## blank + +## ---- Component labels ---- + +## Component type C + k_i lin state,k_i + +## Component type R + k_p lin flow,k_p + +## Component type R + [in] SS internal,external + [out] SS external,external + ADDED mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_rep.txt Index: mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_rep.txt ================================================================== --- /dev/null +++ mttroot/mtt/lib/comp/compound/Control/Collocated/PIe/PIe_rep.txt @@ -0,0 +1,35 @@ +## -*-octave-*- Put Emacs into octave-mode +## Outline report file for system PIe (PIe_rep.txt) +## Generated by MTT on" Wed May 15 10:33:29 BST 2002. + +############################################################### +## Version control history +############################################################### +## $Id$ +## $Log$ +## Revision 1.1 2000/12/28 11:58:07 peterg +## Put under RCS +## +############################################################### + +mtt PIe abg tex # The system description +mtt PIe cbg ps # The causal bond graph +mtt PIe struc tex # The system structure +mtt PIe sympar tex # The system parameters +## Uncomment the following lines or add others +## mtt PIe dae tex # The system dae +mtt PIe ode tex # The system ode +## mtt PIe sspar tex # Steady-state parameters +## mtt PIe ss tex # Steady state +## mtt PIe dm tex # Descriptor matrices (of linearised system) +## mtt PIe sm tex # State matrices (of linearised system) +mtt PIe tf tex # Transfer function (of linearised system) +## mtt PIe lmfr ps # log modulus of frequency response (of linearised system) +## mtt PIe simpar txt # Simulation parameters +## mtt PIe numpar txt # Numerical simulation parameters +## mtt PIe state txt # Simulation initial state +## mtt PIe input txt # Simulation input +## mtt PIe logic txt # Logic control +## mtt PIe odeso ps # Simulation output + +mtt PIe rep txt # This file