This library contains basic tools to work with dynamical systems. In particular, it contains dynamic controllers such as the PID Controller.

Fundamental concepts are:

• Signal (ISignal): Provides a long real value output
• Dynamic (IDynamic): Takes a long real value value and provides a long real value output
• Dynamic controller (IDynamicController): Takes two long real values input and value and provides a long real value output

To get a PID controller, take a DynamicController and assign an instance of PID_Dynamic to the public field openDynamic. You also have to assign the public field elapsedTimeProvider of the PID_Dynamic. The easiest way would be to use a MeasuredTimeProvider. However if you know you will call the method Next cyclically, for better resource efficiency use a ConstantTimeProvider instead and set the public field seconds to the cycle time in seconds.

Enter:

apax add @simatic-ax/dynamics

Simatic.Ax.Dynamics;

USING Simatic.Ax.Dynamics;

[...]

VAR_GLOBAL
    elapsedTimeProvider : MeasuredTimeProvider;
    dynamic : PID_Dynamic := (elapsedTimeProvider := elapsedTimeProvider);
    controller : DynamicController := (openDynamic := dynamic);
END_VAR

[...]

// Initialisation

dynamic.SetK(0.1);
dynamic.SetTISeconds(2.3);
dynamic.SetTDSeconds(4.5);

[...]

// Use

output = controller.Next(value, input);

Thanks for your interest in contributing. Anybody is free to report bugs, unclear documentation, and other problems regarding this repository in the Issues section or, even better, is free to propose any changes to this repository using Merge Requests.

Please read the Legal information