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//Provides a virtual PID against which the arduino PID can be compared.
class Virtual_PID
Modelica.Blocks.Math.Feedback feedback1 annotation(
Placement(visible = true, transformation(origin = {-44, 22}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Continuous.FirstOrder firstOrder1(T = 1, initType = Modelica.Blocks.Types.Init.NoInit, k = 1, y_start = 1) annotation(
Placement(visible = true, transformation(origin = {54, 22}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Sources.Sine sine1(amplitude = 50, freqHz = 0.5, offset = 150) annotation(
Placement(visible = true, transformation(origin = {-88, 22}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Continuous.PID PID(Nd = 0.5, Td = 10 ^ 10, Ti = 10 ^ 10, k = 2) annotation(
Placement(visible = true, transformation(origin = {0, 22}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
equation
connect(PID.y, firstOrder1.u) annotation(
Line(points = {{12, 22}, {42, 22}, {42, 22}, {42, 22}}, color = {0, 0, 127}));
connect(feedback1.y, PID.u) annotation(
Line(points = {{-34, 22}, {-12, 22}, {-12, 22}, {-12, 22}}, color = {0, 0, 127}));
connect(sine1.y, feedback1.u1) annotation(
Line(points = {{-76, 22}, {-52, 22}, {-52, 22}, {-52, 22}}, color = {0, 0, 127}));
connect(firstOrder1.y, feedback1.u2) annotation(
Line(points = {{66, 22}, {80, 22}, {80, 0}, {-46, 0}, {-46, 14}, {-44, 14}, {-44, 14}}, color = {0, 0, 127}));
annotation(
uses(Modelica(version = "3.2.2")),
Diagram);
end Virtual_PID;
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