Dual Gain Schedule
- Updated2023-02-17
- 4 minute(s) read
Dual Gain Schedule
Selects a set of gains from a gain schedule for either rising or falling values.
Inputs/Outputs
gain scheduling value
Current input value to use to select gains from the gain schedule.
This input accepts a floating-point, double-precision number or an array of floating-point, double-precision numbers.
gain schedule for rising value
Gain values for the control parameters and maximum value of the rising gain scheduling values.
This node uses the first set of gain values for all the gain scheduling values less than the corresponding maximum value.
gain
Proportional gain, integral gain, derivative gain, or filter coefficient parameter of the controller.
This input accepts a double-precision, floating-point number or a cluster. The data type and cluster elements change according to the controller type. This node supports the following controller types:
- P (Proportional)
- PI (Proportional-Integral)
- PD (Proportional-Derivative)
- PID (Proportional-Integral-Derivative)
maximum
Maximum value of the range of the gain scheduling values.
gain schedule for falling value
Gain values for the control parameters and maximum value of the falling gain scheduling values.
This node uses the first set of gain values for all the gain scheduling values less than the corresponding maximum value.
gain
Proportional gain, integral gain, derivative gain, or filter coefficient parameter of the controller.
This input accepts a double-precision, floating-point number or a cluster. The data type and cluster elements change according to the controller type. This node supports the following controller types:
- P (Proportional)
- PI (Proportional-Integral)
- PD (Proportional-Derivative)
- PID (Proportional-Integral-Derivative)
maximum
Maximum value of the range of the gain scheduling values.
gain schedule option
Gain scheduling values from which to select a set of gains.
This input accepts a ring or an array of rings.
| rising gain schedule | 0 | Specifies that the node selects a set of gains from gain schedule for rising value. |
| falling gain schedule | 1 | Specifies that the node selects a set of gains from gain schedule for falling value. |
Default value: rising gain schedule
gain out
Current gains from the gain schedule.
This output can return the following data types:
- Double-precision, floating-point number
- Array of double-precision, floating-point numbers
- Cluster
- Array of clusters
The data type and cluster elements change according to the controller type. This node supports the following controller types:
- P (Proportional)
- PI (Proportional-Integral)
- PD (Proportional-Derivative)
- PID (Proportional-Integral-Derivative)
gains out
Current gains from the gain schedule.
This output can return the following data types:
- Double-precision, floating-point number
- Array of double-precision, floating-point numbers
- Cluster
- Array of clusters
The data type and cluster elements change according to the controller type. This node supports the following controller types:
- P (Proportional)
- PI (Proportional-Integral)
- PD (Proportional-Derivative)
- PID (Proportional-Integral-Derivative)
index
Index of the element in the gain schedule corresponding to gains out.
This output can return a 32-bit signed integer or an array of 32-bit signed integers.
Programming Patterns
You can call the Create Gain Schedule node to obtain the gain schedule for a controller before using this node.
Cluster Elements for Different Controller Types
The following table shows the elements the input and output gain clusters contain for different controller types.
| Controller Type | Gain Cluster Elements |
|---|---|
| P | proportional gain |
| PD | proportional gain, derivative gain, and derivative lowpass filter coefficient |
| PI | proportional gain and integral gain |
| PID | proportional gain, integral gain, derivative gain, and derivative lowpass filter coefficient |