| 1 | model PI_discreet
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| 2 | Modelica.Blocks.Interfaces.RealInput e annotation(
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| 3 | Placement(visible = true, transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
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| 4 | Modelica.Blocks.Interfaces.RealOutput PI_out annotation(
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| 5 | Placement(visible = true, transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 6 | parameter Real Kp = 0 "Proportional gain";
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| 7 | parameter Real Ki = 0 "Integral gain";
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| 8 | parameter Real Init = 0 "Initial output of the controller";
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| 9 | Real I(start=Init) "Integral accumulator";
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| 10 |
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| 11 | equation
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| 12 |
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| 13 | when Clock(0.001) then
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| 14 | I = previous(I) + Ki * e;
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| 15 | PI_out = Kp * e + I;
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| 16 | end when
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| 17 | annotation(
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| 18 | uses(Modelica(version = "3.2.2")),
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| 19 | Diagram(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}})}));
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| 20 | end PI_discreet;
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