Automatic
- Updated2023-02-17
- 3 minute(s) read
Automatic
Implements autotuning using the Ziegler-Nichols tuning method. If a plant model does not have delay, Ziegler-Nichols tuning does not work. In this case, the node switches to internal mode control to estimate the system response.
Inputs/Outputs
Ziegler-Nichols speed
Desired response performance of the PID parameters.
| Fast | 0 | Specifies a fast response performance. Faster response generally results in a smaller rise time. |
| Normal | 1 | Specifies a normal response performance. |
| Slow | 2 | Specifies a slow response performance. Slower response generally results in less overshoot. |
Default value: Fast
type of controller
Parameters to return as PID gains.
| P | 0 | Returns only the proportional parameters. |
| PI | 1 | Returns the proportional and integral parameters. |
| PID | 2 | Returns the proportional, integral, and derivative parameters. |
Default value: P
stimulus signal
Stimulus signal for the system.
response signal
Response signal of the system.
closed-loop?
A Boolean that specifies whether the system is a closed-loop system.
| True | The system is a closed-loop system. The node estimates open-loop parameter values based on the closed-loop values the node identifies from the input signals. |
| False | The system is not a closed-loop system. |
Default value: False
controller gain
Initial value for the controller gain.
This node uses this input to calculate integral of PID gains.
Default value: 0
dt
Loop-cycle time or interval, in seconds, at which this node is called.
dt must be greater than zero.
Default value: 0
PID gains
Proportional gain, integral gain, derivative gain, and filter coefficient parameters of the controller.
This output can return a cluster or an array of clusters.
proportional
Proportional gain of the controller.
integral
Integral gain of the controller.
derivative
Derivative gain of the controller.
filter coefficient [a]
Derivative lowpass filter coefficient of the controller.
stimulus operating point
Stimulus offset for the plant.
response operating point
Response offset for the plant.
plant parameters
Gain, time constant, and dead time of the plant.
Plant Gain (K)
Process gain (K).
Time Constant (T)
Time constant (T), in seconds.
Dead Time (L)
Dead time (L), in seconds.