// CP: 65001
// SimulationX Version: 3.8.2.45319 x64
//Licensed by 2000-2019 Modelica Association & al. under the Modelica License 2
//Copyright © 2000-2019, Modelica Association & al.
within AIDAModelica;
model PID_2 "PID_2"
	import Modelica.Blocks.Types.InitPID;
	import Modelica.Blocks.Types.Init;
	import Modelica.Blocks;
	Modelica.Blocks.Interfaces.RealInput u "'input Real' as connector" annotation(Placement(
		transformation(
			origin={-126,86},
			extent={{-14,-14},{14,14}}),
		iconTransformation(
			origin={-50,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput du "'input Real' as connector" annotation(Placement(
		transformation(
			origin={-116,-82},
			extent={{-14,-14},{14,14}}),
		iconTransformation(
			origin={50,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Blocks.Interfaces.RealOutput y annotation(Placement(
		transformation(
			origin={110,0},
			extent={{-10,-10},{10,10}}),
		iconTransformation(
			origin={110,0},
			extent={{-10,-10},{10,10}})));
	Modelica.Blocks.Interfaces.RealInput Consign "'input Real' as connector" annotation(Placement(
		transformation(
			origin={-126,30},
			extent={{-12,-12},{12,12}}),
		iconTransformation(
			origin={-100,0},
			extent={{-20,-20},{20,20}})));
	parameter Real k(unit="1")=1 "Gain";
	parameter Real Ti(
		min=Modelica.Constants.small,
		start=0.5) "Time Constant of Integrator";
	parameter Real Td(
		min=0,
		start=0.1) "Time Constant of Derivative block";
	parameter Blocks.Types.InitPID initType=Blocks.Types.InitPID.DoNotUse_InitialIntegratorState "Type of initialization (1: no init, 2: steady state, 3: initial state, 4: initial output)" annotation(
		Evaluate=true,
		Dialog(group="Initialization"));
	parameter Real xi_start=0 "Initial or guess value value for integrator output (= integrator state)" annotation(Dialog(group="Initialization"));
	parameter Real xd_start=0 "Initial or guess value for state of derivative block" annotation(Dialog(group="Initialization"));
	parameter Real y_start=0 "Initial value of output" annotation(Dialog(
		group="Initialization",
		enable=initType==InitPID.InitialOutput));
	constant Real unitTime=1 annotation(HideResult=true);
	Modelica.Blocks.Math.Gain P(k=1) "Proportional part of PID controller" annotation(Placement(transformation(
		origin={-28,68},
		extent={{-10,-10},{10,10}})));
	Modelica.Blocks.Math.Gain D(k=Td) "Derivative part of PID controller, with derivate received at input du" annotation(Placement(transformation(
		origin={-27,-41},
		extent={{-9,-9},{9,9}})));
	Modelica.Blocks.Continuous.Integrator I(
		k=unitTime / Ti,
		initType=if initType == InitPID.SteadyState then Init.SteadyState else if initType == InitPID.InitialState or initType == InitPID.DoNotUse_InitialIntegratorState then Init.InitialState else Init.NoInit,
		y_start=xi_start) "Integral part of PID controller" annotation(Placement(transformation(
		origin={-28,30},
		extent={{-10,-10},{10,10}})));
	Blocks.Math.Gain Gain(k=k) "Gain of PID controller" annotation(Placement(transformation(extent={{60,-10},{80,10}})));
	Blocks.Math.Add3 Add annotation(Placement(transformation(extent={{20,-10},{40,10}})));
	Modelica.Blocks.Math.Feedback feedback1 annotation(Placement(transformation(
		origin={-68,30},
		extent={{-14,14},{14,-14}})));
	Modelica.Blocks.Math.Feedback feedback2 annotation(Placement(transformation(
		origin={-64,-42},
		extent={{-10,-10},{10,10}})));
	Modelica.Blocks.Continuous.Derivative derivative1 annotation(Placement(transformation(
		origin={-90,-42},
		extent={{-10,-10},{10,10}})));
	initial equation
		if initType == InitPID.InitialOutput then
		  y = y_start;
		end if;
	equation
		connect(derivative1.y, feedback2.u1) annotation(
		  Line(points = {{-79, -42}, {-79, -44}, {-72, -44}, {-72, -42}}, color = {0, 0, 127}));
		connect(Consign, derivative1.u) annotation(
		  Line(points = {{-126, 30}, {-102, 30}, {-102, -42}}, color = {0, 0, 127}));
		connect(du, feedback2.u2) annotation(
		  Line(points = {{-116, -82}, {-64, -82}, {-64, -50}}, color = {0, 0, 127}));
		connect(feedback2.y,D.u) annotation(Line(
			points={{-55,-42},{-50,-42},{-42.7,-42},{-42.7,-41},{-37.7,-41}},
			color={0,0,127}));
		connect(D.y, Add.u3) annotation(
		  Line(points = {{-17, -41}, {0, -41}, {0, -8}, {18, -8}}, color = {0, 0, 127}));
		connect(Consign,feedback1.u1) annotation(Line(
			points={{-126,30},{-121,30},{-84.3,30},{-79.3,30}},
			color={0,0,127}));
		connect(u,feedback1.u2) annotation(Line(
			points={{-126,86},{-121,86},{-68,86},{-68,46.3},{-68,41.3}},
			color={0,0,127}));
		connect(feedback1.y,P.u) annotation(Line(
			points={{-55.3,30},{-50.3,30},{-45,30},{-45,68},{-40,68}},
			color={0,0,127}));
		connect(I.u,feedback1.y) annotation(Line(
			points={{-40,30},{-45,30},{-50.3,30},{-55.3,30}},
			color={0,0,127}));
		connect(I.y, Add.u2) annotation(
		  Line(points = {{-17, 30}, {-0.5, 30}, {-0.5, 0}, {18, 0}}, color = {0, 0, 127}));
		connect(P.y, Add.u1) annotation(
		  Line(points = {{-17, 68}, {0, 68}, {0, 8}, {18, 8}}, color = {0, 0, 127}));
		connect(y,Gain.y) annotation(Line(
			points={{110,0},{105,0},{86,0},{81,0}},
			color={0,0,127}));
		connect(Add.y, Gain.u) annotation(
		  Line(points = {{41, 0}, {58, 0}}, color = {0, 0, 127}));
	annotation(experiment(
		StopTime=1,
		StartTime=0,
		Interval=0.001));
end PID_2;