PID
function [x,y,typ]=PID(job,arg1,arg2)
// Copyright INRIA
x=[];y=[],typ=[]
select job
case 'plot' then
standard_draw(arg1)
case 'getinputs' then
[x,y,typ]=standard_inputs(arg1)
case 'getoutputs' then
[x,y,typ]=standard_outputs(arg1)
case 'getorigin' then
[x,y]=standard_origin(arg1)
case 'set' then
newpar=list();
xx1=arg1.model.rpar.objs(3)
exprs(1)=xx1.graphics.exprs(1)
p_old=xx1.model.rpar
xx2=arg1.model.rpar.objs(5)
exprs(2)=xx2.graphics.exprs(1)
i_old=xx2.model.rpar
xx3=arg1.model.rpar.objs(6)
exprs(3)=xx3.graphics.exprs(1)
d_old=xx3.model.rpar
y=0
while %t do
[ok,p,i,d,exprs0]=getvalue('Set PID parameters',..
['Proportional';'Integral';'Derivation'],list('vec',-1,'vec',-1,'vec',-1),exprs)
if ~ok then break,end
if ok then
xx1.graphics.exprs=exprs0(1)
xx1.model.rpar=p
xx2.graphics.exprs=exprs0(2)
xx2.model.rpar=i
xx3.graphics.exprs=exprs0(3)
xx3.model.rpar=d
arg1.model.rpar.objs(3)=xx1
arg1.model.rpar.objs(5)=xx2
arg1.model.rpar.objs(6)=xx3
break
end
end
needcompile=0
if ~(p_old==p & i_old==i & d_old==d) then
newpar(size(newpar)+1)=3
newpar(size(newpar)+1)=5
newpar(size(newpar)+1)=6
needcompile=2
end
x=arg1
y=max(y,needcompile)
typ=newpar
case 'define' then
scs_m=scicos_diagram(..
version="scicos4.2",..
props=scicos_params(..
wpar=[600,450,0,0,600,450],..
Title=["PID"],..
tol=[0.0001,0.000001,1.000E-10,100001,0,0],..
tf=100000,..
context=" ",..
void1=[],..
options=tlist(["scsopt","3D","Background","Link","ID","Cmap"],list(%t,33),[8,1],[1,5],..
list([5,1],[4,1]),[0.8,0.8,0.8]),..
void2=[],..
void3=[],..
doc=list()))
scs_m.objs(1)=scicos_block(..
gui="INTEGRAL_m",..
graphics=scicos_graphics(..
orig=[318.304,183.11733],..
sz=[40,40],..
flip=%t,..
theta=0,..
exprs=["0";"0";"0";"1";"-1"],..
pin=7,..
pout=9,..
pein=[],..
peout=[],..
gr_i=list(..
["thick=xget(''thickness'')";
"pat=xget(''pattern'')";
"fnt=xget(''font'')";
"xpoly(orig(1)+[0.7;0.62;0.549;0.44;0.364;0.291]*sz(1),orig(2)+[0.947;0.947;0.884;0.321;0.255;0.255]*sz(2),''lines'')";
"xset(''thickness'',thick)";
"xset(''pattern'',pat)";
"xset(''font'',fnt(1),fnt(2))"],8),..
id="1/s",..
in_implicit="E",..
out_implicit="E"),..
model=scicos_model(..
sim=list("integral_func",4),..
in=1,..
in2=1,..
intyp=1,..
out=1,..
out2=1,..
outtyp=1,..
evtin=[],..
evtout=[],..
state=0,..
dstate=[],..
odstate=list(),..
rpar=[],..
ipar=[],..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%f,%t],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(2)=scicos_block(..
gui="SUMMATION",..
graphics=scicos_graphics(..
orig=[387.97067,172.85067],..
sz=[40,60],..
flip=%t,..
theta=0,..
exprs=["1";"[1;1;1]"],..
pin=[10;9;11],..
pout=19,..
pein=[],..
peout=[],..
gr_i=list(..
["[x,y,typ]=standard_inputs(o) ";
"dd=sz(1)/8,de=0,";
"if ~arg1.graphics.flip then dd=6*sz(1)/8,de=-sz(1)/8,end";
"for k=1:size(x,''*'')";
"if size(sgn,1)>1 then";
" if sgn(k)>0 then";
" xstring(orig(1)+dd,y(k)-4,''+'')";
" else";
" xstring(orig(1)+dd,y(k)-4,''-'')";
" end";
"end";
"end";
"xx=sz(1)*[.8 .4 0.75 .4 .8]+orig(1)+de";
"yy=sz(2)*[.8 .8 .5 .2 .2]+orig(2)";
"xpoly(xx,yy,''lines'')"],8),..
id="",..
in_implicit=["E";"E";"E"],..
out_implicit="E"),..
model=scicos_model(..
sim=list("summation",4),..
in=[-1;-1;-1],..
in2=[-2;-2;-2],..
intyp=[1;1;1],..
out=-1,..
out2=-2,..
outtyp=1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=[],..
ipar=[1;1;1],..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%t,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(3)=scicos_block(..
gui="GAINBLK",..
graphics=scicos_graphics(..
orig=[321.23733,235.91733],..
sz=[40,40],..
flip=%t,..
theta=0,..
exprs="1",..
pin=17,..
pout=10,..
pein=[],..
peout=[],..
gr_i=list("",8),..
id="",..
in_implicit="E",..
out_implicit="E"),..
model=scicos_model(..
sim=list("gainblk",4),..
in=-1,..
in2=-2,..
intyp=1,..
out=-1,..
out2=-2,..
outtyp=1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=1,..
ipar=[],..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%t,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(4)=scicos_block(..
gui="DERIV",..
graphics=scicos_graphics(..
orig=[319.03733,135.45067],..
sz=[40,40],..
flip=%t,..
theta=0,..
exprs=[],..
pin=8,..
pout=11,..
pein=[],..
peout=[],..
gr_i=list("xstringb(orig(1),orig(2),'' du/dt '',sz(1),sz(2),''fill'');",8),..
id="s",..
in_implicit="E",..
out_implicit="E"),..
model=scicos_model(..
sim=list("deriv",4),..
in=-1,..
in2=-2,..
intyp=1,..
out=-1,..
out2=-2,..
outtyp=1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=[],..
ipar=[],..
opar=list(),..
blocktype="x",..
firing=[],..
dep_ut=[%t,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(5)=scicos_block(..
gui="GAINBLK",..
graphics=scicos_graphics(..
orig=[255.23733,183.11733],..
sz=[40,40],..
flip=%t,..
theta=0,..
exprs="1",..
pin=13,..
pout=7,..
pein=[],..
peout=[],..
gr_i=list("",8),..
id="",..
in_implicit="E",..
out_implicit="E"),..
model=scicos_model(..
sim=list("gainblk",4),..
in=-1,..
in2=-2,..
intyp=1,..
out=-1,..
out2=-2,..
outtyp=1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=1,..
ipar=[],..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%t,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(6)=scicos_block(..
gui="GAINBLK",..
graphics=scicos_graphics(..
orig=[255.23733,135.45067],..
sz=[40,40],..
flip=%t,..
theta=0,..
exprs="1",..
pin=14,..
pout=8,..
pein=[],..
peout=[],..
gr_i=list("",8),..
id="",..
in_implicit="E",..
out_implicit="E"),..
model=scicos_model(..
sim=list("gainblk",4),..
in=-1,..
in2=-2,..
intyp=1,..
out=-1,..
out2=-2,..
outtyp=1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=1,..
ipar=[],..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%t,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(7)=scicos_link(..
xx=[303.80876;309.73257],..
yy=[203.11733;203.11733],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[5,1,0],..
to=[1,1,1])
scs_m.objs(8)=scicos_link(..
xx=[303.80876;310.4659],..
yy=[155.45067;155.45067],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[6,1,0],..
to=[4,1,1])
scs_m.objs(9)=scicos_link(..
xx=[366.87543;379.39924],..
yy=[203.11733;202.85067],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[1,1,0],..
to=[2,2,1])
scs_m.objs(10)=scicos_link(..
xx=[369.80876;379.39924;379.39924],..
yy=[255.91733;255.91733;217.85067],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[3,1,0],..
to=[2,1,1])
scs_m.objs(11)=scicos_link(..
xx=[367.60876;379.39924;379.39924],..
yy=[155.45067;155.45067;187.85067],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[4,1,0],..
to=[2,3,1])
scs_m.objs(12)=scicos_block(..
gui="SPLIT_f",..
graphics=scicos_graphics(..
orig=[234.704;203.11733],..
sz=[0.3333333,0.3333333],..
flip=%t,..
theta=0,..
exprs=[],..
pin=16,..
pout=[13;14],..
pein=[],..
peout=[],..
gr_i=list([],8),..
id="",..
in_implicit="E",..
out_implicit=["E";"E";"E"]),..
model=scicos_model(..
sim="lsplit",..
in=-1,..
in2=[],..
intyp=1,..
out=[-1;-1;-1],..
out2=[],..
outtyp=1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=[],..
ipar=[],..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%t,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(13)=scicos_link(..
xx=[234.704;246.6659],..
yy=[203.11733;203.11733],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[12,1,0],..
to=[5,1,1])
scs_m.objs(14)=scicos_link(..
xx=[234.704;234.704;246.6659],..
yy=[203.11733;155.45067;155.45067],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[12,2,0],..
to=[6,1,1])
scs_m.objs(15)=scicos_block(..
gui="SPLIT_f",..
graphics=scicos_graphics(..
orig=[233.97067;203.11733],..
sz=[0.3333333,0.3333333],..
flip=%t,..
theta=0,..
exprs=[],..
pin=21,..
pout=[16;17],..
pein=[],..
peout=[],..
gr_i=list([],8),..
id="",..
in_implicit="E",..
out_implicit=["E";"E";"E"]),..
model=scicos_model(..
sim="lsplit",..
in=-1,..
in2=[],..
intyp=1,..
out=[-1;-1;-1],..
out2=[],..
outtyp=1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=[],..
ipar=[],..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%t,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(16)=scicos_link(..
xx=[233.97067;234.704],..
yy=[203.11733;203.11733],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[15,1,0],..
to=[12,1,1])
scs_m.objs(17)=scicos_link(..
xx=[233.97067;233.97067;312.6659],..
yy=[203.11733;255.91733;255.91733],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[15,2,0],..
to=[3,1,1])
scs_m.objs(18)=scicos_block(..
gui="OUT_f",..
graphics=scicos_graphics(..
orig=[456.5421,192.85067],..
sz=[20,20],..
flip=%t,..
theta=0,..
exprs="1",..
pin=19,..
pout=[],..
pein=[],..
peout=[],..
gr_i=list(" ",8),..
id="",..
in_implicit="E",..
out_implicit=[]),..
model=scicos_model(..
sim="output",..
in=-1,..
in2=[],..
intyp=-1,..
out=[],..
out2=[],..
outtyp=1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=[],..
ipar=1,..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%f,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(19)=scicos_link(..
xx=[436.5421;456.5421],..
yy=[202.85067;202.85067],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[2,1,0],..
to=[18,1,1])
scs_m.objs(20)=scicos_block(..
gui="IN_f",..
graphics=scicos_graphics(..
orig=[193.97067,193.11733],..
sz=[20,20],..
flip=%t,..
theta=0,..
exprs="1",..
pin=[],..
pout=21,..
pein=[],..
peout=[],..
gr_i=list(" ",8),..
id="",..
in_implicit=[],..
out_implicit="E"),..
model=scicos_model(..
sim="input",..
in=[],..
in2=[],..
intyp=1,..
out=-1,..
out2=[],..
outtyp=-1,..
evtin=[],..
evtout=[],..
state=[],..
dstate=[],..
odstate=list(),..
rpar=[],..
ipar=1,..
opar=list(),..
blocktype="c",..
firing=[],..
dep_ut=[%f,%f],..
label="",..
nzcross=0,..
nmode=0,..
equations=list()),..
doc=list())
scs_m.objs(21)=scicos_link(..
xx=[213.97067;233.97067],..
yy=[203.11733;203.11733],..
id="drawlink",..
thick=[0,0],..
ct=[1,1],..
from=[20,1,0],..
to=[15,1,1])
model=scicos_model()
model.sim='csuper'
model.in=-1
model.in2=-2
model.out=-1
model.out2=-2
model.intyp=1
model.outtyp=1
model.blocktype='h'
model.firing=%f
model.dep_ut=[%f %f]
model.rpar=scs_m
gr_i=['xstringb(orig(1),orig(2),[''PID''],sz(1),sz(2),''fill'');']
x=standard_define([2 2],model,[],gr_i)
end
endfunction