Add files for the P controller

6 files changed, 102 insertions, 0 deletions

diff --git a/P-Controller/tankPController.py b/P-Controller/tankPController.py
new file mode 100644
index 0000000..40f2d60
--- /dev/null
+++ b/P-Controller/tankPController.py
@@ -0,0 +1,57 @@
+from opcua import Client
+from opcua import ua
+import time
+import logging
+
+# Define the URL on which the server is broadcasting
+url = "opc.tcp://192.168.0.171:4841"
+
+if __name__ == "__main__":
+    client = Client(url)
+    logging.basicConfig(level=logging.WARN)
+
+    try:
+        client.connect()
+        print("Client connected!")
+
+        run = client.get_node(ua.NodeId(10001, 0))
+        run.set_value(True)
+        # print("Current state of run : {}".format(run.get_value()))
+
+        root = client.get_root_node()
+        # print("Root node is : ", root)
+
+        objects = client.get_objects_node()
+        # print("Objects\' node is : ", objects)
+
+        # Find the IDs for MV, PV
+        H_ID = 6 
+        U_ID = 8 
+
+        modelicaId = {}
+        modelicaId = objects.get_children()
+
+        # Desired setpoint
+        SP = 1
+
+        # Controller gain
+        Kc = 0.2
+
+        while True:
+            # Evaluate the PV and MV 
+            PV = modelicaId[H_ID].get_value()
+            MV = Kc * (SP - PV)
+            time.sleep(0.1)
+            modelicaId[U_ID].set_value(MV)
+
+            # print("H value is: ", modelicaId[H_ID].get_value())
+            # print("Controller effort is: ", modelicaId[U_ID].get_value())
+            # time.sleep(0.1)
+            # print("="*40)
+    
+    except KeyboardInterrupt:
+        print("Stopping sequence!")
+
+    finally:
+        print("Done!")
+        client.disconnect()
diff --git a/P-Controller/tankRPiModel.mo b/P-Controller/tankRPiModel.mo
new file mode 100644
index 0000000..c3eff19
--- /dev/null
+++ b/P-Controller/tankRPiModel.mo
@@ -0,0 +1,8 @@
+model tankRPiModel
+  parameter Real K = 1 "Plant gain";  
+  parameter Real tau = 2 "Plant time const"; 
+  Real y(start = 0) "Plant output";
+  input Real u "Controller effort from the client"; 
+equation  
+  tau * der(y) + y = K * u;    
+end tankRPiModel;
diff --git a/P-Controller/tankRPiModel_res.mat b/P-Controller/tankRPiModel_res.mat
new file mode 100644
index 0000000..e8e5389
--- /dev/null
+++ b/P-Controller/tankRPiModel_res.mat
diff --git a/P-Controller/tankSysOMP.mo b/P-Controller/tankSysOMP.mo
new file mode 100644
index 0000000..5c9a849
--- /dev/null
+++ b/P-Controller/tankSysOMP.mo
@@ -0,0 +1,13 @@
+model tankSysOMP
+  parameter Real K = 1 "Plant gain";  
+  parameter Real Kc = 0.2 "Controller gain"; 
+  parameter Real r = 1 "Setpoint";  
+  parameter Real tau = 2 "Plant time const"; 
+  Real y(start = 0) "Plant output";
+  Real error "Deviation from the setpoint"; 
+  Real u "Controller effort"; 
+equation
+  error = r - y; 	
+  Kc * error = u;  
+  tau * der(y) + y = K * u;   
+end tankSysOMP;
diff --git a/PI-Controller/tankRPiModel.mo b/PI-Controller/tankRPiModel.mo
new file mode 100644
index 0000000..f69ce63
--- /dev/null
+++ b/PI-Controller/tankRPiModel.mo
@@ -0,0 +1,8 @@
+model tankRPiModel
+  parameter Real K = 2 "Plant gain";  
+  parameter Real tau = 2 "Plant time const"; 
+  Real y(start = 0) "Plant output";
+  input Real u "Controller effort from the client"; 
+equation  
+  tau * der(y) + y = K * u;    
+end tankRPiModel;
diff --git a/PI-Controller/tankSysOMPI.mo b/PI-Controller/tankSysOMPI.mo
new file mode 100644
index 0000000..a050cec
--- /dev/null
+++ b/PI-Controller/tankSysOMPI.mo
@@ -0,0 +1,16 @@
+model tankSysOMPI
+  parameter Real K = 2 "Plant gain";  
+  parameter Real Kc = 0.2 "Controller gain"; 
+  parameter Real r = 1 "Setpoint";  
+  parameter Real tau = 2 "Plant time const"; 
+  parameter Real Ti = 5 "Integral time const"; 
+  Real y(start = 0) "Plant output";
+  Real error "Deviation from the setpoint"; 
+  Real u "Controller effort"; 
+  Real x "state variable for controller"; 
+equation
+  error = r - y; 
+  der(x) = error / Ti; 
+  Kc * (error + x) = u;  
+  tau * der(y) + y = K * u;  
+end tankSysOMPI;