{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "*This notebook contains material from [cbe30338-2021](https://jckantor.github.io/cbe30338-2021);\n", "content is available [on Github](https://github.com/jckantor/cbe30338-2021.git).*\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "< [3.6 Lab Assignment 3: Relay and PI Control](https://jckantor.github.io/cbe30338-2021/03.06-Lab-Assignment-PI-Control.html) | [Contents](toc.html) | [Tag Index](tag_index.html) | [3.8 Lab Assignment 4: Cascade Control](https://jckantor.github.io/cbe30338-2021/03.08-Lab-Assignment-Cascade-Control.html) >

\"Open

\"Download\"" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 1, "link": "[3.7 Integral Windup and Bumpless Transfer](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7-Integral-Windup-and-Bumpless-Transfer)", "section": "3.7 Integral Windup and Bumpless Transfer" } }, "source": [ "# 3.7 Integral Windup and Bumpless Transfer" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.7.1 Learning Goals](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.1-Learning-Goals)", "section": "3.7.1 Learning Goals" } }, "source": [ "## 3.7.1 Learning Goals\n", "\n", "* Explain the purpose of each of the following enhancements of 'textbook' PI control:\n", " * Anti-reset windup\n", " * Control algorithm modifications\n", " * Event loop modifications\n", " * Bumpless Transfer" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.7.2 PI Control](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.2-PI-Control)", "section": "3.7.2 PI Control" } }, "source": [ "## 3.7.2 PI Control\n", "\n", "Proportional-Integral (PI) Control is velecity form\n", "\n", "\\begin{align}\n", "MV_k & = MV_{k-1} - K_P (e_{k} - e_{k-1}) - \\delta t K_I e_k\n", "\\end{align}\n", "\n", "where $MV_0= \\bar{MV}$ is the initial value, and the error $e_k$ is the difference between the process variable and setpoint\n", "\n", "\\begin{align}\n", "e_k & = PV_k - SP_k \\\\\n", "\\end{align}\n", "\n", "and $\\delta t$ is the time step.\n", "\n", "We encode the controller using the Python `yield' statement. The implementation has added `t_step` to facilitate use of this code for situations where we may change the time step or have a variable time step." ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "nbpages": { "level": 2, "link": "[3.7.2 PI Control](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.2-PI-Control)", "section": "3.7.2 PI Control" } }, "outputs": [], "source": [ "# caution: this is not a final version of our PI controller\n", "\n", "def PI(Kp, Ki, MV_bar=0):\n", " MV = MV_bar\n", " e_prev = 0\n", " while True:\n", " t_step, SP, PV = yield MV\n", " e = PV - SP\n", " MV += -Kp*(e - e_prev) - t_step*Ki*e\n", " e_prev = e" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.7.2 PI Control](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.2-PI-Control)", "section": "3.7.2 PI Control" } }, "source": [ "The benefits of using the `yield` statement is that we can use the same code to create multiple instances of controller, each with it's own parameters and state. The communication between the main event loop and a controller instance is illustrated in this diagram:\n", "\n", "![](https://jckantor.github.io/cbe30338-2021/figures/controller-coroutine.png)\n", "\n", "The following cells demonstrate performance of the controller when subject to a step change in setpoint and a disturbance input." ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "nbpages": { "level": 2, "link": "[3.7.2 PI Control](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.2-PI-Control)", "section": "3.7.2 PI Control" } }, "outputs": [], "source": [ "%matplotlib inline\n", "from tclab import TCLab, clock, Historian, Plotter, setup\n", "\n", "def experiment(controller, t_step=5, t_final=1000,\n", " SP=lambda t: 40 if t >= 20 else 0, \n", " DV=lambda t: 100 if t >= 420 else 0):\n", "\n", " TCLab = setup(connected=False, speedup=60)\n", " with TCLab() as lab:\n", " h = Historian(lab.sources)\n", " p = Plotter(h, t_final)\n", "\n", " # initialize manipulated variable\n", " lab.P1 = 200\n", " lab.P2 = 200\n", " lab.Q1(next(controller))\n", "\n", " # event loop\n", " for t in clock(t_final, t_step):\n", " T1 = lab.T1\n", " U1 = controller.send((t_step, SP(t), T1))\n", " lab.Q1(U1)\n", " lab.Q2(DV(t)) # <= disturbance\n", " p.update(t)" ] }, { "cell_type": "code", "execution_count": 3, "metadata": { "nbpages": { "level": 2, "link": "[3.7.2 PI Control](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.2-PI-Control)", "section": "3.7.2 PI Control" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "

" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "experiment(PI(5, 0.05))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.7.3 What is Integral Windup?](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3-What-is-Integral-Windup?)", "section": "3.7.3 What is Integral Windup?" } }, "source": [ "## 3.7.3 What is Integral Windup?\n", "\n", "Let's increase the magnitude of the control gains to see if we an acheive even better control performance." ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "nbpages": { "level": 2, "link": "[3.7.3 What is Integral Windup?](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3-What-is-Integral-Windup?)", "section": "3.7.3 What is Integral Windup?" } }, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "experiment(PI(10, 0.5))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.7.3 What is Integral Windup?](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3-What-is-Integral-Windup?)", "section": "3.7.3 What is Integral Windup?" } }, "source": [ "
\n", "\n", "**Study Question:** Carefully exammine the results of this experiment. The PI velocity algorithm is given by an equation\n", "\n", "\\begin{align}\n", "MV_{k} & = MV_{k-1} - K_p(e_{k} - e_{k-1}) - h K_i e_{k}\n", "\\end{align}\n", "\n", "Looking at the period from 0 to 100 seconds, is this equation being satisfied? Why or why not? \n", "\n", "**Study Question:** Carefully examine the code for the PI controller. How is it possible for $MV$ to be different from the actual input applied to the device?\n", "\n", "
\n", "\n", "**Integral (aka Reset) windup is a consequence the controller computing values for the manipulable input that are outside the range of feasible values. The difference is due to the presence of upper and lower bounds on the manipulated variable.**" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.1 Anti-reset windup - Version 1](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.1-Anti-reset-windup---Version-1)", "section": "3.7.3.1 Anti-reset windup - Version 1" } }, "source": [ "### 3.7.3.1 Anti-reset windup - Version 1\n", "\n", "There several common strategies for avoiding integral (aka reset) windup. The first of these, which should be part of any practical implementation, is to limit computed values of manipulated variable to the range of values that can be implemented in the actual process. This will avoid $MV$ 'winding up' due to range limits.\n", "\n", "\\begin{align}\n", "\\hat{MV}_{k} & = MV_{k-1} - K_p(e_{k} - e_{k-1}) - \\delta t K_i e_{k} \n", "\\end{align}\n", "\n", "\\begin{align}\n", "MV_k & = \\begin{cases}\n", "MV^{min} & \\text{if } \\hat{MV}_k \\leq MV^{min}\\\\\n", "\\hat{MV}_k & \\text{if } MV^{min} \\leq \\hat{MV}_k \\leq MV^{max}\\\\\n", "MV^{max} & \\text{if} \\hat{MV_k} \\geq MV^{max}\n", "\\end{cases}\n", "\\end{align}" ] }, { "cell_type": "code", "execution_count": 5, "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.1 Anti-reset windup - Version 1](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.1-Anti-reset-windup---Version-1)", "section": "3.7.3.1 Anti-reset windup - Version 1" } }, "outputs": [ { "data": { "image/png": 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6UVyADbW/1wPfYW7HggWvsyZJkgZnUAFriezHPV5hrbZrwQ5gb23250bg54Cn4DprkiQNxGLC1jgErHZbSg7SsPcRL2w2aEScAXwaeHdmfrbW3fnfgRfgOmtLimsJVY91Vj3WWfV0qrPZTI6d6v4aswl/eu8MJ2e7P3ZUVkzArzx3GaPa5XHd8rndjUZhWOusFdkNegnw3Zn5WXiiu/PfmAtrRMRkQ+va+cDBVi+SmbuB3fXbk5OT6VTnanF6evVYZ9VjnZVfcwvYvn37+KEfemnLx/XT2rV63dxq84sxyNYp9+PuX5Fh7RvA5oj4nsz8UkQ8A7gI+DJwM7ATqK+zdi5wW3FFlSRpcJqDWasA9sjRGfYc2D+Q91ts2DJgFavIMWsPRsSvMjfTcxYI4E2ZeSgiXGdNklR6CxkPNqhxYP0EMMNWtRU6GzQzPwp8tMXxB4ErRl8iSZJa66U1bLEaA9i+ffvYunVL28cawJaOMizdIUlSobq1kA07mNU1BrD1K6K+dpeWOMOaJGlJm5lNdt54B4cefmxBz1/oeDBbxtQrw5okaWz1MqbsyPGTPQe1bq1h0jAY1iRJY6Ue0BbSdbl7x8VsXNt+gVODmYpgWJMkVUqn1rLFjC3btGE1T59cZxhT6RjWJEml1CqULSSM9TqmzFYzlZVhTZJUOoMc9G8IU9UZ1iRJhejUndlt0H+31jIDmsaJYU2SNDILGfzfatC/YUxLiWFNkjQUg1jx30H/kmFNkjRA/bac2Z0pdWdYkyQtymICmmFM6s6wJklakJnZ5KFj0x0Dmiv+S4tnWJMk9ayXVjRbzqTBMqxJklrqZ4KAAU0aHsOaJOkJCx1/dta6lQY0aUgMa5K0xDlBQCo3w5okLUG9BjQnCEjFM6xJ0hLS7wxOg5lUPMOaJC0RnTZHN6BJ5WVYk6Qx1DyT8+jJ5P7Dx+YFNQOaVA2GNUkaE53GoT1ydIanHrjridu7d1zsnptSRRQa1iJiJfBeYBtwErgzM38xIs4G9gAXAdPA1Zl5W3EllaRy69TF2czN0aVqKbpl7RpgFnhWZmZEfFfD8dszc3tEbAFuiYiLMvPxwkoqSSU1M3t6FyfM7+bct28fW7duAZzNKVVNYWEtItYCVwGbMzMBMvObtbt3ABfWju2PiAeBy4FbCyiqJJVWqxa13TsuZuPaFfNC2foVwVnrVhZVTEmLUGTL2kXAd4B3RcSPAo8B7wG+AExk5uGGxx4Azhtx+SSpVJonDQAcOX5yXlCzi1MaP1Fr1Br9G0d8H/B54HWZuSciLgY+AzwPuD8z1zY89mbgE5m5p8Xr7AJ21W+vWbNm0969e4defg3OiRMnWLVqVdHFUB+ss9GbzeT6e2f5zon2v7OvevYyzl0DE3F6ULPOqsc6q57t27cfyszNg37dIlvWvs7ceLUbATLzroj4GvBsgIiYbGhdOx842OpFMnM3sLt+e3JyMrdt2zbMcmvApqamsM6qxTobnXpr2pHjJ3n8vrt46orWj9u0YTW/9DOXtW1Rs86qxzpTXWFhLTMfioi/ZW4m6Kci4nzmxql9CbgZ2Am8pzbB4FzA2aCSlpR2MzzrY9IaOWlAGl9Fzwa9GvjziPgvwAzwxsz8ZkS8HfhwRNzH3JIeVzoTVNK4ax6T1jweDRyTJi1FhYa1zLwfeGmL4w8CV4y8QJJUkG7rpLWa4SlpaSi6ZU2SlrTGMWntgpqtadLSZliTpALMzCYPHZs+bVsoOH1Mmq1p0tJmWJOkEevU5WkrmqRmhjVJGpF2XZ6N20LZiiapmWFNkoaoHtBmZrNtl6ctaZI6WXBYi4jlwH8Eng78j8z864b7rs3MNw+gfJJUWd1meNrlKakXi2lZuxbYAOwH/iAiXpaZ/0/tvh9abMEkqao6zfC0y1NSvxYT1l4MXJKZGRF/DHwsIv44M68G/O0jacnpZYanAU1SvxYT1pZnbRf4zDweET8L3BQRfzqYoklSdTjDU9KwLCasHY6I52XmPQCZ+XhE7AD+EnjBQEonSSXnDE9Jw7aYsLYTONF4oCGwvWpRpZKkCui00botaZIGZWIRz/3NzPxK88HMnMnMjyzidSWpEo486kbrkoZvMS1r3zOwUkhSxTmBQNKwuCiuJPWoPj6t7sjxJ3/euHYFZ61bWUSxJI25xYS150fEt1scDyAz8+xFvLYklUq3BW4laVgWE9a+DPzEoAoiSWXUaYHbuk0bVrNxzYoRl0zSUrGYsDadmV8fWEkkqWQ6zfbcuPbJcOY4NUnDtJiw5m8mSWPN2Z6SymDBYS0zLx1kQSSpzJztKakozgaVJE6f6QnO9pRUDoY1SUueMz0lldlidjCQpMqbmU3uP3ysY1BztqekItmyJmnJatWi1jzTE5ztKalYpWhZi4h3R0RGxPNqt8+OiE9HxH0RcU9EXF50GSWNn+bZnvWZnmetWznvj0FNUpEKb1mLiMuAFwEHGw5fA9yemdsjYgtwS0RclJmPF1JISWOlcaHbut07LnZJDkmlVGhYi4iVwHXAa4B9DXftAC4EyMz9EfEgcDlw66jLKGm8tJtMsHGtXZ2SyqnolrXfBv4iM78WMfdLMiLOBCYy83DD4w4A542+eJLGRadto5xAIKnMIjOLeeOIFwO/C7wsMzMiDgAvB74JHMzMtQ2PvRn4RGbuafE6u4Bd9dtr1qzZtHfv3mEXXwN04sQJVq1aVXQx1Ieq1dlsJtffO8t3Tsz/fXfVs5exbjmsWw4TMd6talWrM1lnVbR9+/ZDmbl50K9bZMvaS4DvBeqtapuBKeANABEx2dC6dj7zx7Q9ITN3A7vrtycnJ3Pbtm1DLLYGbWpqCuusWqpSZ42taY/fdxdPbWg827RhNb/0M5ctma7PqtSZnmSdqa6wsJaZ1zA3kQCAestaZt5Ta0nbCbynNsHgXOC2QgoqqZK6bcLuchySqqLoMWvtvB34cETcB5wErnQmqKR+uAm7pHFRmrCWmRc0/PwgcEVxpZE0TmxNk1RlpQlrkjQsbsIuqcpKsYOBJEmSWrNlTdJYqM/8rGvcnUCSqsywJqny2s38lKRxYFiTVFmddiWoc3cCSVVnWJNUSd3WUatzBqikqjOsSaqUbnt8uo6apHFjWJNUGe5KIGkpMqxJqgx3JZC0FBnWJFXCzGzOW47D1jRJS4VhTVLpter+dFcCSUuFYU1SabWbTOByHJKWEsOapFLqNJnAMWqSlhL3BpVUSk4mkKQ5tqxJKj0nE0haygxrkkqh00bsTiaQtJQZ1iQVzo3YJak9w5qkwrgRuyR1Z1gbA83dR0UpYjxRWc69UT1YtCvXMK/TqK7H0ZPJQ8emge7n287MbPLmj9zJY6dm5h13I3ZJms+wVjHNX8btvvCKsHr5Mq59zaV9f7E2fvH3o0zn3mjFGXOTrE8+Ptvy/oVep25GeT0eOTrDngP7ge7n2w9ne0rS6QxrJdBra0hZw0ndY6dmeMOHPt/38xq/+MdBt9Cy0OtUVosNaY3h1VY0STqdYa1ggxpYPazWml4UHSKLPPdGzdehuVyjuk6juB779u3jh1/ywo7n2ysDmiR1Zlgbkl5byzoNrG6n1Zdi0V94H33jixY8Vmrfvn1s3bplwe9d9Lk3arwOrcq1mOvUq1Fcj/UrgnPWr+p6vpKkxSssrEXEKuBjwHOAR4FvAVdn5oGIOBvYA1wETNeO31ZUWeuG3V3ZPLC6nTJ+KS6biAWvg7V+xcKfWzbdrsNirlMZjdv5SFIZFd2ydj3wN5mZEfFrtdtXANcAt2fm9ojYAtwSERdl5uPdXnA2FzZYvZthd2E5sFqSJLVSWFjLzBPApxoO3Q78eu3nHcCFtcftj4gHgcuBW7u97rFTcNUN5Ris3s8YnjK2lkmSpOIV3bLW6C3AJyLiTGAiMw833HcAOK+QUjUxgEmSpFGKzCy6DETEO4GfAl4GrAYOZubahvtvBj6RmXtaPHcXsKt+e82atZs++LFbhlbWdcthIgxgg3TixAlWrVpVdDHUB+useqyz6rHOqmf79u2HMnPzoF+38LAWEW8FfgH40cx8uHbsOHBBvXUtIj4HvC0zb+32epOTk3n48OFuD1OJTE1NsW3btqKLoT5YZ9VjnVWPdVY9ETGUsDYx6BfsR61V7NXAj9WDWs3NwM7aY7YA5wKFzwaVJEkatSKX7tgMvBe4H9gXc12L05n5A8DbgQ9HxH3ASeDKXmaCSpIkjZvCu0EHbfny5XnOOecUXQz1YXp6mpUrXaurSqyz6rHOqsc6q55Dhw6RmQMf2D70lrWIeB/w08D5wPMz857a8bYL30bEGuADwBZgFnhHZu7t5f02bNjAAw88MPDz0PA4LqN6rLPqsc6qxzqrnogYymKsoxizdgtza6R9vel4feHbZwJXATdGRD08vpW5LtFnANuA90fExhGUVZIkqVSG3rKWmX8PEKcvd9Fp4dtXAa+v3fe1iPh74BXABwdVrl63jloM11mTJEmLVcgEgx4Wvj2P+S1xjfct2sxssvPGO/reQL1fmzas5rrXXmZgkyRpaTg2jBctcgeD5pkNzYkmO9z35B2nLYq7hqmpqY5vfPRk8sWDw9njs9EjRx9h7yenWL/CsNbJiRMnutaZysU6qx7rrHqss0oan7CWmd+JCCJisqF17XzgYO3ng8AFQON9n6KFzNwN7K7fnpyczG4DMh86Ns2eA3P7h+7ecTEb165Y4Jm0duT4SXbddBcAW7du4ax1zubpxEG01WOdVY91Vj3WmeqKbFmrL3z7nhYL39bve31EXAi8BLh6GIXYuHaFYUqSJJXW0GeDRsR1EfEAsBn4TER8pXbX24EfrC18+0HmL3z7B8Dq2mOngJ2Z+e/DLqskSVLZjGI26E5qW0c1HX8QuKLNc44zNyNUkiRpSSuyG3TJaF4mxCU9JElSrwxrQ9ZqmRCX9JAkSb0axQ4GS9qRR0+etp7boYcfG/qCvJIkaTwY1kboXT/57Cd+PnL8JA8dm37iz8xs87JzkiRJdoMO3SOPnnri56euWf7Ez/V12OrsGpUkSa3YsjZkv/PJf33i541rVrBpw+qWj7NrVJIktWLL2hDUQ1nzpIKz1q3kutdeNi+UNe52IEmS1MywNgTLJuK0UNa4XIc7JkiSpF4Z1oZk2UQYyiRJ0qI5Zk2SJKnEDGuSJEklZliTJEkqMcOaJElSiRnWJEmSSsywJkmSVGKGNUmSpBIzrEmSJJWYYU2SJKnEDGuSJEklZliTJEkqMcOaJElSiRnWJEmSSsywJkmSVGKGNUmSpBIzrEmSJJWYYU2SJKnEzii6AHrSkeMnAdi4ZgXLJqLg0kiSpDIwrJXIrpvuAmDThtVc99rLDGySJMlu0KJtXLOCTRtWzzt26OHHOPLoyYJKJEmSysSWtYItmwiue+1lHHn0JEeOn3yidU2SJAkMa6WwbCI4a93KooshSZJKyG5QSZKkEjOsldSR4yeZmc2iiyFJkgpmWCupXTfdxc4b7zCwSZK0xDlmrUTqM0MPPfwY8OSs0HEbzzYzm/Nmux49mTx0bHreY1xrTpKkOYa1EqnPDL3/8LGxnRU6M5vsvPGOJwIpwCNHZ9hzYP+8x7nWnCRJc+wGLZllE8HGtSuKLsbQHHn05Lyg1o5rzUmSNMeWNRVm946L2bh2Bfv27WPr1i0ArjUnSVKTRbWsRcSHBlUQjbeZ2blxafX9TwE2rl3BWetWsn7F3DpzZ61bOdatipIkLcRiW9a2LubJEXEAOFH7A/CfM/MvI+JsYA9wETANXJ2Zty3mvVSMekh780fu5LFTM0UXR5Kkyuka1iLi2+3uAjYMoAw/n5n3NB27Brg9M7dHxBbgloi4KDMfH8D7aURaTSao27RhNRvX2IomSVI3vbSsBfAy4JEWxz878BLN2QFcCJCZ+yPiQeBy4NYhvZ+GoHkywerly7j2NZfOTaJwaQ5JknrSS1j7Z+DMzLy7+Y6I+NYAynBjREwA/wv4T8AsMJGZhxsecwA4bwDvpYLs3nExT59c11dAq49vM9hJkpayyOy8Qn5ErAVOZuapiJgEHsvMYwN584jzMvNgRCwHfgd4PnAlcDAz1zY87mbgE5m5p8Vr7AJ21W+vWbNm0969ezu+79GTybV3z42fevMLlrF+RbmCQNnL181sJsdOwbFTcMO/dj+PEydOsGrVKmD+udeduSp443MnmIhqXYdx1lhnqgbrrHqss+rZvn37oczcPOjX7dqylpnHI+JNEfEu4FwgI+JeYFdmfiYiNmTmwwt588w8WPv7VET8V+DLmfmdiCAiJhta184HDrZ5jd3A7vrtycnJ3LZtW8f3fejY9BOLsG7duqV0OwQ0lu+S77/4tBmSZW5pah6n9tT1c8c7XeepqSnqdTYzm/ztw/PHuT0ObLm8fPW0lDXWmarBOqse60x1vUww+BXg14BfBv6pdvgHgfdGxG8A/xn4vn7fuNZit7wh6L0auLP2883ATuA9tQkG5wJLcjZoqzXHyry6f6tFb/uZTFDfxeHIoyfnrblml6gkaanqZczaW4Dt9Vawmk9FxBeBL9PQqtWnc4CPR8Qy5iYr3A/8Uu2+twMfjoj7gJPAlUtpJmjzHqHNqrJnaH3R234D1rKJOO3c6qGtzEFVkqRh6CWsTTQFNQAy80BEHMjMdyzkjTPzfuDSNvc9CFyxkNcdB42tS42qtrp/fdHbBT+/RWitSlCVJGlQeglrKyJiVWaeaDwYEatxb9GhadW6tNS06xIdZzOzOS+k2+0rSeolrO1lrkvyV+rjyyJiI3A98PEhlk1qGVqPHD85liGm1SLCdvtKknppGXsXcAp4ICLujIg7gG8wN0nvXcMsnNTKrpvuYueNdzAz23nZmaqob8l1/+Fjp41TPPTwYzx0bHren3E5b0lSb3pZuuMU8JqIuAi4rHb4zsz8ylBLpkqpd981btQ+SM3j18Zl7Fq7Lbne9ZPP5nc++a8AvOFDn593n61tkrS09LyRe2Z+FfjqEMuiiuq0B+ig1Mev3X/4WKXHrjWPSTtyvPVSJxectbb5qU8Yl6AqSepNz2FNamexa6v1atlEnLZAcBXUA9rMbPLmj9zJY6dmWj6ucakTYF5L4urly/itVzyXt90yt+tbpxbMcRzPJ0lLmWFNA7XQtdUWogoL5fba6rhpw+rT9k5tXL5l45oV81rkOrUu2k0qSePFsKaBWuzaav0o80K5jWP4moPa6uXLuPY1l84rb6vA2TwTtttiyXV2k0rSeDGsqVKqsFBuu9a0xbY6tlssua4qa9E1j9trVOZWUkkqimFNlVL2hXJnZrPlEhytujkXotfFkss6pq1bt3AZW0klqWiGNVVOWXd3aBVERjmGr1FZx7S1mozSqLmV1B0dJMmwpjHRqiVp1F/szUFkUK1pvaramLZ6kIX5Xbj1umw1e9aWN0lLkWFNY6FVS1KRX+y7d1w80qAGxY5p6zQOrbkMde0mo3QqY1mCpiSNkmFNfWu1sGsRurUkjeqLvdXuDRvXFtNdV0QX8SAWRe5Ul81rzEnSUmNYU19GsVtBr9q1JI1y4kGZrkc/elmjrtfxYt3GobXSvGhyp1bB5jXmjhw/6dg1SUuKYU196fTFPIxdC7operLBqHZvGLR6mG215hvA+lXLectH75x3bo2PPXpybvN5YN7G8o3j0DrpZV25TmVvLIvBTdK4M6xVVBlW72/+Yl7qX5pFzfzsVauuxsdOzZy2UTzAquUTnDg1O+9Y42MfOTrDngP7T3+PIS2K3Fz2xrI46UDSuDOsVVQZVu8f5W4FCzWsLrN249TKfD0auxq77VPaGNR+/+dfwLv/6t62jx2FetkfOjZ9WrmddCBp3BnWKqQKq/eXza6b7hp4oK3qODWY39X40Te+qKfxfpNPWXnaY/ft28cPv+SF84LTsLt/l00E56xf9URZyrgo8rC5+4O0NBnWKqTI1ftbtSSVVXOoHXSgreo4tWatxog1X7v6eTU/dv2K+cGp/txRhIWixykWxd0fpKXLsFYxVV2aYZTqofb+w8dOW2i110DRqQWjMbCWfZxav5pnZXY7r7IEpzKM4RyEdp+7+ozYbrs/3H/42MjX95M0fIY1dVXFlqRlEzFv8kM/Y/z6CadlH6e2EGUJYP3oNLu1KgGu0+du04bV/NYrnvvE7Xa7Pwyj219S8Qxr6kuVWpIWOsav13XDyh5Yx12vs1urEl46fe7qn9u6xv8kDLvbX1LxDGtjYJSLhFapJandGL9+usw6rRtWhcA6znqd3VrF8FL/3DV+bh959FTLx3bq9m/UuDaen93y6HXxaS1thrUxMKyujypNKminVZdeP12iVQqnS1Gn2a1Vni3a6nP3O5/817aPb9ft36hxbbyqtDaOu1Zd39aNWjGsVdSwuz6qNqmgm3Zdog8dmz7tl2KVw+lSVsWxdtD5P0WtPrftut+77ZXbqIqtjf3oNEGok1G3arXq+h5U3Sz0GrSzkGuzmDLYwjifYa2iWnV9DFIVJxV00q5LtNXq/Ro/ZZwtOjObLRf5bdRqz9R259Bpf1WYWxvvku+/eKC/LwYdCAah24LPnRTZqvWun3z2E62n9c9rY9d1PxZzDdppdW061f9iy7Bpw2re9+pLOXqidfd/oyL+XY+6+9qwVmHNXR/DUqVJBZ302/JS5XCq+cqw4wc8+Qu+0xdZq03ue/3cdnrs+hXzf18sdKxrL+dQVb22ag0qpDa2pj51zfInfn5inGKbbd2K0Hxtht37cujhx3jtn91+2rZ3rTT/ux72fyJaffZvuGrLUFuqDWvqatzGbTV3F7XbzLzq4XSpK9uOH52+3IrYmH7XTXf1/dmv0vCIdufWSj/jG4d1Dfrpxu5VP9egnXbXptdZ8/2WofH9eglqMP/fdZU+o/0wrGnJ6XfhV1XTIGYDD1KrL7f6F9lZ61aOZjZ3UyBotdRJY7maw2Oncyjbv6GF1m+3z0evIaUfmzas5qx1K0/rxt63bx9bt25Z8OsO+jPe2BLYanHwYZWh3eu3CpLDqJ92mv+dDJNhTUtSVQejqz+LnQ08LEUNLagH2G5j5RpDXOMX0jjv3lHXaYFl6D2k9KPxGjZv61am31PtWh+H3fvSy+vX62UY9dO2XCP87BvWJI29dl2i9x8+NpTA0WrMTOOXSJFDC5ZNnL6va12rsTjtWt/GaXhErwssn/a8MboG7XTrnh302N52+xN30ypIjlP9GNbGSBlnvEll0K5LdBitbFUZM9Oudbke4vqZBFF1vS6w3GjcrkE73WYZD/r7pp9hKp2C5LjVj2FtjJShe0cqq3o46dTKtpBN0Jtb0WZms2NQK/uXSKeFhuvG8T+EvZx3o3G8Bu2MethIr+/XKUiOW/0Y1iqubDPepLLr1MrW7390urWitRozU6UvkaU6tnOpnncVLZW6MqxVXLsvHknttWtlaxzH1mihMwPHacyMpOIY1sbAUvmfhTRorXYCafUfnnqLG3Da/qN1v//zL+Ddf3XvE2Odyt7dKak6DGsCTh934/6YWiqWTQRPn1zXccZbfR/Zd//VvW0fM/mUlfPGOlWpu1NSuRnWlrBx3jZG6ke7gcqNQwsOPHS86/IFtnJLGobShrWIeCbwIeAs4GHg9Zn5xUILNUZ6XV7ArhwtFd2CVn2TbTh94oCtaJKGqbRhDfgT4PrM/GBE/DzwAeDFBZdpbPS6bYxfQlrKWs223rRh9YKW+JCkhSplWIuIs4HLgCtqhz4O/FFEXJCZBzo9dzaTh45Nd3z9pTAeq9s5LoVtY6TFatU96r8TSaNWyrAGPA34t8x8HCAzMyIOAucBBzo98dgpuOqG/cMvYcn1s4SHywtI7TkOTVLRyhrWALLpdsv/ykbELmBX/fYZ6zbyyNFHenqDM1cF+2/bx0SMx/+SZzM54+Qs3znRfOnaK8M1OHHiBFNTU4W9v/pnnVWPdVY91pnqIrP3L/ZRqXWD3gecmZmPR0QA3wRe1K0b9MyzzsovHTjU0/uMY3dGqw2kOynDNZiammLbtm2FlkH9sc6qxzqrHuuseiLiUGZuHvTrlrJlLTO/HRF3Ar8IfBB4JXCgW1ADmIil3WVhl40kSeOllGGt5leBD0bEO4GjwOsKLo8kSdLIlTasZeaXcKkOSZK0xJU2rC3Uww8/zObNA+8u1hBNT0+zcqVdt1VinVWPdVY91lklbRrGiw49rEXE+4CfBs4Hnp+Z99SOnw3sAS4CpoGrM/O22n1rmFsEdwswC7wjM/f28n4bNmzggQceGPh5aHgcRFs91ln1WGfVY51VT0QMZd/GiWG8aJNbgMuBrzcdvwa4PTOfCVwF3BgR9fD4VmA6M58BbAPeHxEbR1BWSZKkUhl6y1pm/j1AnL6O1w7gwtpj9kfEg8yFuluBVwGvr933tYj4e+AVzM0MlVQx/S4po8E7erL77i4qF+usOoa9DFYhY9Yi4kxgIjMPNxw+wNwOBdT+/nqb+yRVyMxssvPGO07bi1aj9cjRGfYccHeXKrHOquOGq7bUl806NozXL3KCQbcdCrLDfU/e0bSDwZo1a1zxuWJcpbt6+qmzoyeTLx4cyjAO9SFns+fdXVQO1ll17Nu3j/UrAsYprGXmdyKCiJhsaF07HzhY+/kgcAHQeN+n2rzWbmB3/fbk5GQ6ILNaHERbPf3U2UPHpp9oHdi942I2rl0xzKKpjX379rF169aii6E+WGfVMZbdoDU3AzuB90TEFuBc4Lam+14fERcCLwGuLqSUkgZm49oV7rBRkPUr3N2kaqwz1Q19NmhEXBcRDwCbgc9ExFdqd70d+MGIuI+5iQNXZubjtfv+AFhde+wUsDMz/33YZZUkSSqbUcwG3clcK1nz8QeBK9o85zhzM0IlSZKWtFGssyZJkqQFMqxJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUol1DWsRsTwi3hER10fEy5vuu3Z4RZMkSVIvLWvXApcAXwL+ICL+sOG+H1rMm0fEgYj43xHxhdqfV9WOnx0Rn46I+yLinoi4fDHvI0mSVFVn9PCYFwOXZGZGxB8DH4uIP87Mq4EYQBl+PjPvaTp2DXB7Zm6PiC3ALRFxUWY+PoD3kyRJqoxeWtaWZ2YCZOZx4GeBsyPiT4dYrh3AdbX33A88CNi6JkmSlpxewtrhiHhe/UatdWsH8B+AFwygDDdGxL9ExJ9FxGREnAlMZObhhsccAM4bwHtJkiRVStQazdo/YC6oPZaZX42IydrPxyJiGfCqzPzIgt884rzMPBgRy4HfAZ4PXAkczMy1DY+7GfhEZu5p8Rq7gF3122vWrNm0d+/ehRZJBThx4gSrVq0quhjqQz91dvRkcu3dMwC8+QXLWL9iEKMn1C//nVWPdVY927dvP5SZmwf9ul3DGkBE7AR+EzgXSOBeYFdmfiYiNmTmw4suSMR3AV/OzKdExHHggnrrWkR8DnhbZt7a7XUmJyfz8OHD3R6mEpmammLbtm1FF0N96KfOHjo2zVU37Afghqu2cNa6lcMsmtrw31n1WGfVExFDCWu9LN3xK8BO4JeZ6/o8E3gH8N6IuAL424W8cUSsjYgNDYdeDdxZ+/nm2ntSm2BwLnDbQt5HkiSpynqZDfoWYHtmHmw49qmI+CJwH/DeBb73OcDHa92pAdwP/FLtvrcDH46I+4CTwJXOBJUkSUtRL2FtoimoAZCZByLia5n5joW8cWbeD1za5r4HgSsW8rqSJEnjpJfZoCsi4rQRjhGxusfnS5IkaYF6CVt7meuS3FA/EBEbgT3Ax4dULkmSJNFbWHsXcAp4ICLujIg7gG8Aj9fukyRJ0pB0HbOWmaeA10TERcBltcN3ZuZXhloySZIk9TTBAIDM/Crw1SGWRZIkSU2cICBJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSK21Yi4hnRsQ/RsSXI+JzEfGcosskSZI0aqUNa8CfANdn5rOA3wc+UHB5JEmSRu6MogvQSkScDVwGXFE79HHgjyLigsw80Om5s5k8dGx6yCXUIB09aZ1VTT91duT4ySGXRpLGWynDGvA04N8y83GAzMyIOAicBxzo9MRjp+CqG/YPv4QamEeOzrDngHVWJdaZJI1OWcMaQDbdjlYPiohdwK767TPWbeSRo48Ms1wasJxN66xiFlJnZ64K9t+2j4lo+U9ZQ3bixAmmpqaKLob6YJ2pLjKbM1Hxat2g9wFnZubjERHAN4EXdesGPfOss/JLBw6NoJQalH379rF169aii6E+LKTONq5ZwbIJg1pRpqam2LZtW9HFUB+ss+qJiEOZuXnQr1vKlrXM/HZE3An8IvBB4JXAgW5BDWAigrPWrRxuATVQ61dYZ1VjnUnS6JQyrNX8KvDBiHgncBR4XcHlkSRJGrnShrXM/BLw4qLLIUmSVKRSjllbjIh4HPhW0eVQX9YBx4ouhPpinVWPdVY91ln1nJuZA28IK23L2iJ8axiD+zQ8EfGAdVYt1ln1WGfVY51VT0Q8MIzXLfMOBpIkSUueYU2SJKnExjGs7S66AOqbdVY91ln1WGfVY51Vz1DqbOwmGEiSJI2TcWxZkyRJGhuGNUmSpBIbm7AWEc+MiH+MiC9HxOci4jlFl2mpi4hVEfHfa3XyhYj4dERcULvv7Nrt+yLinoi4vOF5ayLioxHxldpzf66wk1jCIuLdEZER8bzabeuspCJiZUT8Ua1u7o2Iv6gdt85KKiK2RcQ/R8Sdtbp5Xe24dVYSEfG+iDjQ+HuwdnxBdRQRExFxbUR8tXb/m3oty9iENeBPgOsz81nA7wMfKLg8mnM98D2ZeQnw17XbANcAt2fmM4GrgBsjor7u31uB6cx8BrANeH9EbBxtsZe2iLgMeBFwsOGwdVZe1wCzwLMy87nAbzQct85KJiIC+AhwVWZeCrwc+JOIeArWWZncAlwOfL3p+ELr6BeB5wDPAr4feFtEfG9PJcnMyv8BzgYeBs6o3Q7mdjG4oOiy+WdePb0Q+Ert52PAZMN9nwNeWvv5XmBLw303Aa8vuvxL5Q+wEvgn4ELgAPA866y8f4C1td9/61rcZ52V8E/tO+o7wA/Xbr8AOASssM7K96fx92Dt9oLqCPgk8H833Pf7wHt6KcO4tKw9Dfi3zHwcIOeuwkHgvEJLpWZvAT4REWcCE5l5uOG+AzxZX+cx/38yjfdp+H4b+IvM/Fr9gHVWahcx98X/roj4fET8Q0S8zDorr9p31A5gb0R8HbgNeB3wFKyzUlvkv6sF19+4hDWA5jVIopBSqKWIeCfwTOA3a4e61Vd2uE9DEhEvBrYA729xt3VWTsuBpwNfzMwXAr8GfIy57QStsxKqdZn9J+AVmXk+8DLgQ7W7rbPyW0wdLaj+xiWsfQPYXO8zro0HeBrzx9uoIBHxVuDngB/PzEcz8zu145MNDzufJ+vrIHBBm/s0XC8Bvhf4WkQcADYDU8yNr7DOyunrzI1XuxEgM+8CvgY8G6yzkroE+O7M/CxAZu4H/o257lDrrMQW+f214Pobi7CWmd8G7mRu8B7AK4EDmXmgsEIJgIjYBbwa+LHMfLjhrpuBnbXHbAHOZa4roPm+C5kLEP9jREVe0jLzmsz87sy8IDMvAB4AtmXm32CdlVJmPgT8LXODmYmI85kbb/glrLOyqjcwfA9ARDyDue7sL2OdVcFC6+hm4FcjYllE/AfgVcBf9vKGY7ODQe1D/0HgTOAo8LrMvLfQQi1xEbGZuV9K9wP/p3Z4OjN/ICLOAT7M3JfKSeBNmfl3teetBf4c+D7mWgzemZm3jLr8glrr2ssz8x7rrLwi4unMXf8zgRngtzLzv1ln5RURrwbeydy1D+D3MvNj1ll5RMR1wCuYC2MPAccy8xkLraOIWAa8D9hee4s/zMw/6qks4xLWJEmSxtFYdINKkiSNK8OaJElSiRnWJEmSSsywJkmSVGKGNUmSpBI7o/tDJGlxIuILtR9XMLeJ8T2121+q/bk3M3tab2gRZfgk8NuZ+b+ajl8NvIm5lcVXAv+cma8dZlm6iYgLgM9n5llFlkNSORjWJA1dZl4C80LIJaN8/4hYx9yK/p9rOv5C4K3A92fmv9d2P7l0lGWTpG7sBpVUqIj4YET8Wu3n90TERyPiryPiKxFxU0RcGhH/X0TcHxG7G553bu3+z0XE3RHx2x3e5seBT+fpC0s+DXiEuYW0yTl3NLzHltp7fz4i7oiIVzbc95MRsT8i7oqIL0TED9SOb6899u6I+LuIeE7t+Etrj3t/7Tn31sJi/fV21s75H4A3NByfjIj/GRH/UnvNG/q/ypKqzJY1SWXzwtqfY8AdwDXMha0zmNuz9I8z88vMbXz9u5n597V9gf86In42M/9bi9f8WeZ2OGk2BfxH4BsR8XfMbRlzY2YeiYgNwJ8AP5mZ34yIs4B/jojPAuuBDwA/nJlfjojlwJqIOBv4C2BrZv5LRLwWuAl4Xu39ngu8ITPfVOt+/V1gW0S8APhN4NLMfDAi3t9Qxl9kbvu8KwBq29RIWkJsWZNUNlOZ+UhmzgB3A/9vZk5n5nHmxrc9vbaly48A76uNh/s88AzmNqGfpxakfhDY13xfZj4K/F/ATwD/CPwccHctEP0g8HTgb2rv8RnmtgX6HuDHgE/VQiOZeSozHwF+APhCZv5L7fiNzO0B+V21t/xSZn6+9vM/MbcfJMBLgU9m5oO129c3FPN2YHtEvDcifho43sM1lDRGbFmTVDYnGn6eaXH7DOb+o5nAlsw81eX1fgT4bLvH1bpG7wTujIhrgS8yF56mgbsz84ebnxMRz2s+Vr+rVq7T3qb2d6tzqT+vpcz8p4i4BPhR4JXA70TEpbUwK2kJsGVNUuVk5v8B/gF4R/1YRHx3RGxu8fCfAVp1jRIR31vrgqx7GjAJ3M9cS9szI+JHGh5/SUSsYK779Mcj4lm148sj4qnMtZZdEhHPrh3/BeCBzPxWl1PaB/xErRsV4Jcb3vNC5jaQvgl4M3Ozadd1eT1JY8SWNUlV9Vpgd0T8S+32MeBq4IH6A2qzO7cBv9HmNdYAfxgR5wKPMdfC9Y7M/ELt+T8F/EFE/CGwHDgI/ExmfiUifhn4aK2bdQb41cz8XERcCdwYEcuAh4Ed3U4kM++OiN8D/jEivgV8suHulwK7ImIGWAb8Rq3LVdISEadPjpKk8RARLwLelZkvL7oskrRQhjVJkqQSc8yaJElSiRnWJEmSSsywJkmSVGKGNUmSpBIzrEmSJJWYYU2SJKnEDGuSJEklZliTJEkqsf8fYR9ujc7imqgAAAAASUVORK5CYII=\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# add anti-integral windup feature. Not yet final.\n", "\n", "def PI_antiwindup_1(Kp, Ki, MV_bar=0, MV_min=0, MV_max=100):\n", " MV = MV_bar\n", " e_prev = 0\n", " while True:\n", " t_step, SP, PV = yield MV\n", " e = PV - SP\n", " MV += -Kp*(e - e_prev) - t_step*Ki*e\n", " MV = max(MV_min, min(MV_max, MV))\n", " e_prev = e\n", "\n", "experiment(PI_antiwindup_1(10, 0.5))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.2 Anti-reset Windup - Version 2](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.2-Anti-reset-Windup---Version-2)", "section": "3.7.3.2 Anti-reset Windup - Version 2" } }, "source": [ "### 3.7.3.2 Anti-reset Windup - Version 2\n", "\n", "A more subtle form of windup occurs when the manipulated variable is subject to external interventions. This can occur when a valve stem in a process application gets stuck, an operator or user intervenes and resets a mechanical actuator, or there is some sort of system failure. \n", "\n", "For these reasons, practical control systems often include a field measurement of the manipulated variable that is fed back to the controller. The following image, for example, shows a pneumatically operated globe valve with a positioner, and with feedback of position to the central control system.\n", "\n", "

\"Pl\n", " \n", " CC BY-SA 3.0\n", " \n", "Stepper motors are commonly used actuators in lab equipment and robotics. The position of the stepper motor would be manipulated variable. This is an example of a stepper motor with an integrated encoder that can be used to verify the motor's position.\n", " \n", "![](https://www.portescap.com/-/media/project/automation-specialty/portescap/portescap/products/workings-of-encoders/encoder_chart_720x450_1_0.jpg)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.2 Anti-reset Windup - Version 2](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.2-Anti-reset-Windup---Version-2)", "section": "3.7.3.2 Anti-reset Windup - Version 2" } }, "source": [ "Valve position feedback is a feature of control valves used in process applications, and should be regarded as a 'best practice' for industrial automation.\n", "\n", "![](https://jckantor.github.io/cbe30338-2021/figures/valve-position-feedback.png)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.2 Anti-reset Windup - Version 2](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.2-Anti-reset-Windup---Version-2)", "section": "3.7.3.2 Anti-reset Windup - Version 2" } }, "source": [ "This behavior also occurs in the Temperature Control Laboratory in which the manipulated power levels are constrained to the range 0% to 100%. This is demonstated in the following cell." ] }, { "cell_type": "code", "execution_count": 6, "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.2 Anti-reset Windup - Version 2](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.2-Anti-reset-Windup---Version-2)", "section": "3.7.3.2 Anti-reset Windup - Version 2" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "TCLab version 0.4.9\n", "Simulated TCLab\n", "Q1 = 0\n", "Q1 = 100\n", "TCLab Model disconnected successfully.\n" ] } ], "source": [ "# show that inputs to the TCLab are constrained to the range 0 to 100%\n", "\n", "TCLab = setup(connected=False, speedup=20)\n", "with TCLab() as lab:\n", " print(f\"Q1 = {lab.Q1()}\")\n", " lab.Q1(150)\n", " print(f\"Q1 = {lab.Q1()}\")" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.2 Anti-reset Windup - Version 2](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.2-Anti-reset-Windup---Version-2)", "section": "3.7.3.2 Anti-reset Windup - Version 2" } }, "source": [ "To accomodate feedback of the manipulated variable, we first need to modify the event loop to incorporate the measurement of the manipulated variable, then send that value to the controller." ] }, { "cell_type": "code", "execution_count": 7, "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.2 Anti-reset Windup - Version 2](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.2-Anti-reset-Windup---Version-2)", "section": "3.7.3.2 Anti-reset Windup - Version 2" } }, "outputs": [], "source": [ "%matplotlib inline\n", "from tclab import TCLab, clock, Historian, Plotter, setup\n", "\n", "def experiment_2(controller, t_final=1000, t_step=5,\n", " SP=lambda t: 40 if t >= 20 else 0, \n", " DV=lambda t: 100 if t >= 420 else 0):\n", " TCLab = setup(connected=False, speedup=60)\n", " with TCLab() as lab:\n", "\n", " # set up historian and plotter\n", " h = Historian(lab.sources)\n", " p = Plotter(h, t_final)\n", "\n", " # initialize manipulated variable\n", " lab.P1 = 200\n", " next(controller)\n", "\n", " # event loop\n", " for t in clock(t_final, t_step):\n", " T1 = lab.T1\n", " U1 = lab.Q1() # <==== new line\n", " U1 = controller.send((t_step, SP(t), T1, U1)) # <==== send U1 to controller \n", " lab.Q1(U1)\n", " lab.Q2(DV(t))\n", " p.update(t) " ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.2 Anti-reset Windup - Version 2](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.2-Anti-reset-Windup---Version-2)", "section": "3.7.3.2 Anti-reset Windup - Version 2" } }, "source": [ "The next change is to the controller. The controller now accepts values for PV, SP, and, additionally, MV. To demonstrate the impact of these changes, this example will comment out the software limits placed on MV to show that feedback of manipulated variable is also an anti-reset windwup strategy." ] }, { "cell_type": "code", "execution_count": 8, "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.2 Anti-reset Windup - Version 2](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.2-Anti-reset-Windup---Version-2)", "section": "3.7.3.2 Anti-reset Windup - Version 2" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "

" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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Y2B0RAFOZ+T3AW4EPRcRDwDRwdScjQSVJkobNIEeD7gdaNhVm5kHmpvCQJElaUH25yGE16HnWJEnSCtGPUDXfcpEDcqQfBzWsSZKkefUqYBUWqvrFsCZJktpbiQGrcbnIQdn4pv4c17AmSVLBFhu8Sg9Y/QpVw7xc5KCn7tgLHK/9A/jNzPyzQS7kLknSclkoiB2eTg4ePl5E8OplwBrmUNUvJbSsvSIz72/atuSF3CVJGrROWsPatYA9fniGnXs/s+QyGLCGRwlhrZUlL+QuSdJyaRXK+tENuZTgZcAaHiWEtVsiYgT4J+BXgFlcyF2SNCCd3iPWq1A2XxDbvXs3V1yxGTB4rXQDXRs0Is7PzH0RsQp4N/A84GpcyH1FcbHi6rHOqsc6a202kyMnGh/D+x+YYXq2+2OPjcDPP2eUdhlr3SoYidOfZJ1Vz9Au5F4XEd8MPJiZ39TNQu4TExPp2qDV4vp31WOdVc9KrbOFWsn63TLWbWvYSq2zKouIvoS1Qa4NOg6saljA/dXAPbWvl7yQuyRp5en1vWOLuUfMLkr12yDvWXs6sCsiRplbI/Rh4Gdq+1zIXZLUUnMw67aFrFUwM4CpJINcyP1h4LJ59rmQuyTppHpAW0owa9dKZjBT6UoYDSpJEtBdd2a/7h2TBs2wJkkaiG66M+261EpiWJMk9UWvR2I2BjSDmVYSw5okqWe6ubeszu5M6VSGNUnSkvRiVKbdmVJ7hjVJUscW23LmSEype4Y1SdKCuglohjGpe4Y1SdJJi+3atBtT6j/DmiStcLacSWUzrEnSCmRAk6rDsCZJK8zMbHLdLZ/jwGPHWu63a1Mqi2FNkobczGxyeDp59MgUAIeOTp8W1Gw5k8plWJOkIVZvRfvCvhl27t1z2v4d2y5hw/iYAU0qmGFNkoZQ/Z60Vq1odZvWr+WijesMaVLhDGuSNCTaDRqot6LV2ZomVYNhTZIqbmZ27n60hUZ1nr0mbEWTKsqwJkkV1MnUG42DBvbcudugJlWUYU2SKmahqTfmG9U5EgY1qaoMa5JUsObln2DhqTfOWbfaFjRpyBjWJKlQ7SavBafekFYCw5okFWhmNnn4kSMLBjWn3pBWBsOaJBWmVYta87Qb4NQb0kpRRFiLiHcC7wKel5n3R8S5wE7gYmAKuDYz7xxgESWpLzq5J80WNGllG3hYi4jLgRcC+xo23wDclZlbI2IzcHtEXJyZTw6kkJLUB53ek2ZQk1a2kUG+eUSsBm4C3gBkw65tte1k5h7gIPDiZS+gJPWJ96RJ6tSgW9Z+HfjTzPxK1OYAioizgZHMfKTheXuB85e/eJLUOwtNZOs9aZLmM7CwFhEvAjYDb2uxO5ufvsBxtgPb64/Hx8eZnJzsSRm1PI4fP26dVYx11rnZTI6cgNmE9z8ww/Ts6c85e03wpXs+3deJa62z6rHOVBeZzblomd444m3Am4D6nbUTzHV3vg64Hbig3roWEXcDb8nMO9odd2JiIvfv39+XMqs/Jicn2bJly6CLoUWwzjrT7p605ZzI1jqrHuuseiLiQGZO9Pq4A2tZy8wbmBtIAEBE7AVeWhsNehtwHfCu2gCD8wBHg0qqhHp350IrDTQvByVJ8xn0PWvzeSvwoYh4iLmWt6sdCSqpCuZrTXOlAUlLVUxYy8wLGr4+CFw5uNJI0tIceuL01jRHdUrqxpLDWkSsAn4JuAj4n5n5Fw37bszM63tQPkkqWvOktoeOPvW1rWmSeqGblrUbgfXAHuC3I+Ilmfl/1/Z9X7cFk6TStRtAsGF8jHPWrV7mUkkaNt1Mivsi4NWZ+R7gBcCzIuIPavv8E1LS0JqZTR49MrXgpLab1q9lw5ljLfdJ0mJ007K2KmvzfmTm0Yh4OXBrRLy/N0WTpPK0G0BQZ9enpF7pJqw9EhHPzcz7ATLzyYjYBvwZ8PyelE6SCrHQdBwOIJDUT92EteuA440bGgLbK7sqlSQVxOk4JA1SN/es/Wpmfql5Y2bOZOaHuziuJBVjvgXX661py7H6gKSVrZuWtW/vWSkkqUCtWtRsTZO03IqZFFeSSjHf/WnemyZpELoJa8+LiP9osT2AzMxzuzi2JA3EQvenGdQkDUI3Ye1B4Ed6VRBJGiRHe0oqVTdhbSozv9qzkkjSgDjaU1LJuglr/uSSNBRcfF1SyZYc1jLzsl4WRJJKYGuapNI4GlTSilO/P63u0NGnvnbxdUmlMaxJWlHmuz9NkkplWJO0Iiw02rNu0/q1bDhzrOU+SRoUw5qkoddutGed96lJKpFhTdLQc7SnpCozrElaURztKalqDGuSVhRHe0qqmoGGtYj4a+A8YBb4T+D6zLw3Is4FdgIXA1PAtZl55+BKKqlKFpqaQ5KqZtAta9sy8zGAiPgJ4E+Ay4EbgLsyc2tEbAZuj4iLM/PJgZVUUiU4NYekYTPQsFYPajVPY66FDWAbcGHtOXsi4iDwYuCO5SyfpOpwag5Jw2rQLWtExE7gitrDrRFxNjCSmY80PG0vcP5yl01SNTg1h6RhFpk56DIAEBGvBV4JXA3sy8zxhn23AR/PzJ0tXrcd2F5/PD4+vmnXrl3LUGL1yvHjx1mzZs2gi6FFKK3ODk8nN943c8q2s9cEr3/OCCNhOIPy6kztWWfVs3Xr1gOZOdHr4xYT1gAi4hgwAewDLqi3rkXE3cBbMvOOdseYmJjI/fv397Wc6q3JyUm2bNky6GJoEUqps8auz+23fh5wao75lFJn6px1Vj0R0ZewNrBu0Ig4C1iXmf9We/xy4OvAN4DbgOuAd9UGGJwHOBpU0smANjObXP/hezh24tQWNafmkDRsBnnP2tOAXRGxlrmBBY8AL83MjIi3Ah+KiIeAaeBqR4JKajfS0wEEkobRwMJaZv4r8N3z7DsIXLm8JZJUspnZ5OFHjpwW1NauGuXG11zG6EjY9SlpKA18NKgktdOqRc170yStFIY1ScVrXojdRdglrSSGNUmVsmPbJQY1SSvKyKALIEmLsWHcbk9JK4sta5KK0rwIO7gQu6SVzbAmqRguwi5Jp7MbVFIR5puao5HzqElaiWxZkzRwC03N0chpOiStRIY1SQPTuLanU3NIUmuGNUkDMd/9aU7NIUmnMqxJWlbztaaBLWqS1Iphbci0mvZgEEq5t6iU89FOq/M1X9k7Pbf9/OyHp5NHj0wt+nUzs8n1H76HYydmTtnu0lGSND/DWoU1/zKe7xfhIDQurt3OUn/xt1PS+Win+XwtVPZOzm2/P/vjh2fYuXdPT45la5okLcywVjH1gFZ6EDl2YobXffAzHT23l7/4q2ox52sxzy1VY+C0NU2SFmZYq4DFBrTFtGr1WokhcpDno51256ux7Es5t/367Lt37+aKKzYv+fUGNEnqnGGtMIvt2mz1y3jQvwg/8voXLupeqW5/8bcz6PPRzkLnq7nsiz23/frsZ40F56xb3fPjSpJOZ1grQDctZyUGkdGRxf0iX+m/+BdzvhZ7biVJ1WdYW2ZLHRRQekCTJEn9YVhbBr2458yAJknSymRY65Nh69qUJEmDYVhbooUmHK3ioABJklSmoQtrs0lfJlht1O0UCgYzSZLUqYGFtYhYA3wUeDbwBPA14NrM3BsR5wI7gYuBqdr2Ozs57qGj01xzcxkTrBrQJElStwbdsvY+4C8zMyPijbXHVwI3AHdl5taI2AzcHhEXZ+aTgyxss3YTjhrQJElStwYW1jLzOPDJhk13Ab9Y+3obcGHteXsi4iDwYuCOdsfdMD7Gzdf0b4LVU97LMCZJkvps0C1rjd4EfDwizgZGMvORhn17gfM7OchI4KShkiRpaERmDroMRMTbgR8DXgKsBfZl5njD/tuAj2fmzhav3Q5srz8eHx/ftGvXrv4XWj1z/Phx1qxZM+hiaBGss+qxzqrHOquerVu3HsjMiV4fd+BhLSLeDLwK+KHMfKy27ShwQb11LSLuBt6SmXe0O97ExETu37+/fwVWz01OTrJly5ZBF0OLYJ1Vj3VWPdZZ9UTE8IW1WqvYVcwFtUMN2z8A7M3Md9UGGOwCLupkgMHq1atz48aN/Sqy+mBqaorVq+26rhLrrHqss+qxzqrnwIEDZGbPb2bve1iLiPcCPw48E3heZt5f234JcC9wApgB9gPfyMzviYgLgH8EzgYS+H8y892dvJ8ta9XjX4/VY51Vj3VWPdZZ9UTETGb2fDzASK8P2MLtzI3k/GrT9v8L+LXMHAP+KzAGfF9t388Ak7V93wG8MSI2LENZJUmSitL30aCZ+SmAiNNaBReanuOVwM/W9n0lIj4FvAz4QK/Lt9CyUf3ilB+SJKlTA5m6o4PpOc7n1Ja4xn09MzObXHfL5zjw2LFeH3pBm9av5aarLjewSZI0XI7046CDnGet+Wa55uSSC+x7asfpU3cwOTnZUQEOTydf2Nf5+p698vjhx/nYJyY5a8ywBnPD0zutM5XBOqse66x6rLNKGp6wlplfjwgiYmND69ozgX21r/cBFwCN+z5JC5m5A9hRfzwxMZGd3pD56JEpdu6dW0d0x7ZL2DA+tshPsjiHjk6z/dbPA3Dpd5/6fiu5a9SbaKvHOqse66x6rDPVDbJl7TbgOqA+Pcd5wJ1N+342Ii4Evh+4tp+F2TA+tqwrH9RDW51do5IkqZW+jwaNiJsiYj8wAfxNRHyptuutwPdGxEPMDRy4umEetd8G1taeOwlcl5nf6HdZ+23DmWNsWr+25b4Djx1b9oEOkiSpfMsxGvQ65lrJmrcfBK6c5zVHmRsROlRGR4Kbrrr8lFDW2DUqSZLUrKSF3FeE0ZFwoXlJktSx5ZgUV5IkSUtkWJMkSSqYYU2SJKlghjVJkqSCGdYkSZIKZliTJEkqmGFNkiSpYIY1SZKkghnWJEmSCmZYkyRJKphhTZIkqWCGNUmSpIIZ1iRJkgpmWJMkSSrYGYMugJ5y6Og0ABvOHGN0JAZcGkmSVALDWkG23/p5ADatX8tNV11uYJMkSXaDDtqGM8fYtH7tKdsOPHaMQ09MD6hEkiSpJLasDdjoSHDTVZdz6IlpDh2dPtm6JkmSBIa1IoyOBOesWz3oYkiSpALZDSpJklQww5okSVLB7AYtVH0ajzqn85AkaWUyrBWqeaCB03lIkrQy2Q1akFbTeNQ5nYckSSuTLWsFaZzGo87pPCRJWtkMa4VxGg9JktTIblBJkqSCGdYkSZIKZliTJEkqmGFNkiSpYIY1SZKkghnWJEmSCmZYkyRJKphhTZIkqWCGNUmSpIIZ1iRJkgpmWJMkSSpYV2EtIj7Yq4JIkiTpdN0u5H5FNy+OiL3A8do/gN/MzD+LiHOBncDFwBRwbWbe2c17qUwzs8nh6eTRI1OnbN9w5hijIzGgUkmSVI62YS0i/mO+XcD6HpThFZl5f9O2G4C7MnNrRGwGbo+IizPzyR68nwoxM5tcd8vn+MK+GXbu3XPKvk3r13LTVZcb2CRJK14nLWsBvAR4vMX2T/e8RHO2ARcCZOaeiDgIvBi4o0/vpwE49MQ0Bx471nLfgceOceiJac5Zt3qZSyVJUlk6CWufBc7OzPuad0TE13pQhlsiYgT4J+BXgFlgJDMfaXjOXuD8HryXCjAzmxx6YppDR6dPbtux7RI2jI9x6Og022/9PMDJ/XaJSpJWssjMhZ8QMQ5MZ+aJiNgIHMvMIz1584jzM3NfRKwC3g08D7ga2JeZ4w3Puw34eGbubHGM7cD2+uPx8fFNu3bt6uj9D08nN943A8D1zx/lrLHyAkEVyjif2UyOnGjeBu9/YIbp2ae25WzypkvP4KyxOOXz1p29Jnj9c0YYiep89mF3/Phx1qxZM+hiaBGss+qxzqpn69atBzJzotfHbduylplHI+INEfEO4DwgI+IBYHtm/k1ErM/Mx5by5pm5r/b/iYj4XeDBzPx6RBARGxta154J7JvnGDuAHfXHExMTuWXLlo7e/9EjUyfvlbriis1FdrlVoYyt1O9Ha9XNuXYdrG14fMb0YX7yR7cwOhLMzCZ/+9ipr3sSeNZlcy1vtrKVYXJykk6/z1QG66x6rDPVdTLA4OeBNwI/B/xjbfP3Au+JiF8GfhP4rsW+ca3FblVD0Hs1cE/t69uA64B31QYYnAc4GrRCFrofDWDtqlFufM1ljI4Ee+7cfTKAjY4EN111+clu0nqXaP1/Bx5IklaaTu5ZexOwtd4KVvPJiPgC8CANrVqL9HRgV0SMMjdY4WHgZ2r73gp8KCIeAqaBqx0JWl31+9EaNbaQNXdvjo4E56xbzYYzx9i0fu0poe/AY8d4+JEjXLRxnYFNkrQidBLWRpqCGgCZuTci9mbm25byxpn5MHDZPPsOAlcu5bjDrKo33G8YH1tS9+1CrWy2sEmSVopOwtpYRKzJzOONGyNiLS5XtaxWYlfgfK1sTu0hSVopOglbH2OuS3J9fUNEbGBuhYHOhl1qyeohpVE9qKwk9Va2HdsuObnt0NFpHj0ydcq/mdmFRzdLklQ1nbSsvQP4ILC/dg9ZAt8GfLy2T300X1fgSjQ6Eqfc+9bqXKykVkdJ0srQydQdJ4DXRMTFwOW1zfdk5pf6WjKdVO8KrIqZ2TxlwtteajXooJHdo5KkYdPxQu6Z+WXgy30si4bAQvOr9UJjS2OjYWx1rK/00Kx5gEnz86o2AEWStLCOw5rUieb51TatX8uGM8cWeMXitWtpbG7Vq1J4qQevmdnk+g/fw7ETM6c9p97VC3OTJjc/z65gSRouhjX1zY5tlwxkPrTmFraqhJdOWyUPPHaMBw/+J+/88wdahjm7giVpuBjW1DcbxpevRWuhe9mqEl5arfrQuNJDY1fvW26/77Tn/drLnnNy+1LuGaxSC6QkrSSGtYqq6gS5/dLqXrYq38dWX/WhsX5bBdJ6mDtn3epTPvtSPndVWiAlaaUxrFXUSpwgt52F7mWrWrhttepDq0DaLswtRlVaICVppTGsVch8a2X6C7a9ksNtfVBBJ12XCwXS+UbKtlPlFkhJWgkMaxXiBLmLU2K4bZ5mY6FRn0vR7Zx8yz2Sdr7pSeZTlZZRSeolw1rFVG2C3EEqJdx2Mh1Ho35Md9Kp5nPUOMChm6DUKpQtJahuWr+W9776Mg4fP3FymwFO0rAzrGnJWv0C7tfKBUs16HDb6XQcvQpFS7HQvW7HTszwug9+5rQyHp5OHj0yddpxWpW7lxMlH3jsGFf90V0cPzF7cluJXduS1EuGNS1Jv1cqGBbtpuOoG2TrUKt73Vq1ejUGt8cPz7Bz755TjtPqc9WPtdB1Mt/rGjW2jDYGNRh813a/LdRVbKuitDIY1rQkrUJIo0F25bUzqBUOWk3HUYpWLZAfef0LF9V92xjm5lM/B42Wej7e8aPfybs/8b8X/bqqmJnNlitUNLJVUYvV6TJ2KothTV3r5S/g5dDPFQ6afxA2BsNW03GUrDHA1YNb3e7du7niis3A4u496+U5eNqZq05+3ar7veRrsFE39/MNe6uiemuhHhGDf9kMa+paFUJIuxUOHn7kSNetXsPcNdzc8nbW2KmPm8McnB44umltba6/5mO1GjxSWndzK0u5pxFO7Rbu9D7RVvcZzqe08zRIix2xvBjLfZ4X6hEpKfj365xX+bo2rA2BQ0enK30RLod2Kxz0Yh62hX4Qltwt3AvzDeRoDHHdXKPN9Vc/lwtNAtyqW3aQAzlaaXc7QeMKFfOVtdNRzq3uM5zPQt8H/Q4vQN+Ov1i9nlqn2SBbs+o9IksJ/v3Uz3NeP98w/zVW2jVYZ1gbAttv/fyyftPPzGYR39SL1Rwo5puHbbGtbK0mtW3uGi4hGAxCL0fjtjpWq0mAF/ph3xjgSuv2WcztBN2uVtHOfK0s/W49Pu9pawD42uPH+3L80vSjNWuhMN3utoxhn7vzwGPHePTIFO/88wfmvYZLvQYNaxXV/MN6uZqwh6mrb7552OZrZWv+IVj/C6zV+ahC1/Aw6KRFD1oHuF59z3TT0rTUexqXslpF432GC5VnoV/Y7VoCu1XaL8i6TkYsL8Zi533s9BpbSqtUv4P/UvXynJ/SetjmGi71GjSsVVT9h/XDjxxZ1r+Gmi/0qnfv1X/Zt2tla/VDcO2qUX7tZc857Ru/6udkGCw0urWTX5Stgnm/55BbrMW2WjbfZ9hOq9bzhVqPu9GqTnp5/G71s2W83W0s/bjGGn9GLXWZun7r1zl//ImnJtRuvMZ6dQ1ufFP3ZWzFsFZhoyMx0B9mO7ZdwkUb1xXTjdSNdq1srRw7McNbbr/v5OOSp+ZQ63DTahoXOL21dL57x3rV0lRiwG8XaPvderxSWqe33/r5eVuRZjOXdI21a5Vq/hk16MnDl1PjdD/trrGSrkHDmpZsw/hwhZKFWtnq1q4a5XdfdSm/+NF7T2ll27R+7dAE15Wk1TQurVpL6/e6tRqVWddNS1ApAb/TLrFeh8t2o32HTfPnnW+OwmNHZrjxkqdG8HZ6jZVyPZWi1XXdfI2Vfg0a1qQmC3UL1H8INt8T5Q/H6mg3jcveR4+efPxbr3g+7/zzB04G84Um/i3pr/Cl6rRLrNfXe6vRvsP8/VT/vO0mPZ6e5ZTW+2G4xgah1XXdqnWx5GvQsCa10K5bYCV1GwybdtO4NHaTbPym1Xzk9S/saCWBkv4K78agru2V9j01OhI8/aw1C85R+HjDtmG6xgahk+ur5GvQsCZpxelkGpf6L8eFfqk2vr6kv8JVHQuNaP7YJyZPjuD1GlvZDGuSVrxOu0lK/atbw2d0JBY9glfDy7AmSRjGJJXLsDZE6iPTbC6XJGl4GNaGSC/Wt2zUatbsKi4zJUlSlRnWKm6+mfe7XUZnmJaVkiSpygxrFTffzPtL1bgo+UJBzWHkkiQtD8PaEOjVjdHztaa1mjXb++IkSVoehjWd1GoNOpdRkiRpsAxraslFySVJKoNhTS25Bp0kSWUYGXQBJEmSND/DmiRJUsGKDWsR8a0R8Q8R8WBE3B0Rzx50mark0NFpHj0yxcxsnrJ9ZjZ59MjUyX/N+yVJUllKvmftD4H3ZeYHIuIVwB8DLxpwmSqj1WoGrabmWLtqlBtfcxmjI+HqBJIkFajIsBYR5wKXA1fWNu0Cfi8iLsjMvQu9djbh0SNTHb3PsIWT+VYzePiRI2wYH2s50e2xEzO87oOfWe6iSpKkDhUZ1oBvAf4tM58EyMyMiH3A+cDehV546Og019y8p/8lLNB8qxm0WtXgt17xfN755w9w7MTMaftcnUCSpHJEZnn3LEXEdwE7M/M5Ddv2AL+UmZ9qeu52YHv98RnrNmx60ds+tKj3O3tN8PrnjDASwzOf2Gwm73tglq8fP71+658X4MiJ01+7bhXLei6OHz/OmjVrlu391D3rrHqss+qxzqpn69atBzJzotfHLTWsnQs8BJydmU9GRAD/DrywXTfoMzZN5H1f/PKi3m9YJ36tr/PZrLTPOzk5yZYtWwZdDC2CdVY91ln1WGfVExF9CWtFdoNm5n9ExD3ATwMfAH4K2NsuqAGMBE7mWtOrNUMlSdLgFBnWan4B+EBEvB04DLx2wOWRJEladsWGtcz8Ik7VIUmSVrgi71nrxurVq3Pjxo2DLoYWYWpqitWr7a6tEuuseqyz6rHOqufAgQNkZs9vCu97y1pEvBf4ceCZwPMy8/7a9nOBncDFwBRwbWbeWdt3JnOT4G4GZoG3ZebHOnm/jRs3sn///p5/DvWPN9FWj3VWPdZZ9Vhn1RMRp8+H1QPLsdzU7cCLga82bb8BuCszvxW4BrglIurh8c3AVGY+C9gC/H5EbFiGskqSJBWl7y1r9XnR4vR5u7YBF9aesyciDjIX6u4AXgn8bG3fVyLiU8DLmBsZKqki5ps+Rsvv8HR2vLqLymCdqW4gAwwi4mxgJDMfadi8l7kVCqj9/9V59kmqgFZr0WpwHj88w869K3N1l6qyzirpSD8OOsjRoM0jG5qb3nKBfU/taFrBYHx8nMnJye5Lp2Vz/Phx66xiOqmzw9PJF/b15fYNLUHOJo8ffnzQxdAiWGeVNDxhLTO/HhFExMaG1rVnAvtqX+8DLgAa931ynmPtAHbUH09MTKQ3ZFaLN9FWTyd19uiRqZOtAju2XcKGcdebHaTdu3dzxRVXDLoYWgTrrHo2vqM/xx1ky9ptwHXAuyJiM3AecGfTvp+NiAuB7weuHUgpJXVtw/iYq2kM2FljrmhSNdaZ6vo+GjQiboqI/cAE8DcR8aXarrcC3xsRDzE3cODqzHyytu+3gbW1504C12XmN/pdVkmSpNIsx2jQ65hrJWvefhC4cp7XHGVuRKgkSdKKthzzrEmSJGmJDGuSJEkFM6xJkiQVzLAmSZJUMMOaJElSwQxrkiRJBTOsSZIkFcywJkmSVDDDmiRJUsEMa5IkSQUzrEmSJBXMsCZJklQww5okSVLBDGuSJEkFM6xJkiQVzLAmSZJUMMOaJElSwQxrkiRJBTOsSZIkFcywJkmSVDDDmiRJUsEMa5IkSQUzrEmSJBXMsCZJklQww5okSVLBDGuSJEkFM6xJkiQVzLAmSZJUMMOaJElSwQxrkiRJBTOsSZIkFcywJkmSVDDDmiRJUsEMa5IkSQUzrEmSJBXMsCZJklQww5okSVLBDGuSJEkFaxvWImJVRLwtIt4XES9t2ndj/4omSZKkTlrWbgQuBb4I/HZE/E7Dvu/r5s0jYm9E/EtE3Fv798ra9nMj4q8i4qGIuD8iXtzN+0iSJFXVGR0850XApZmZEfEHwEcj4g8y81ogelCGV2Tm/U3bbgDuysytEbEZuD0iLs7MJ3vwfpIkSZXRScvaqsxMgMw8CrwcODci3t/Hcm0Dbqq95x7gIGDrmiRJWnE6CWuPRMRz6w9qrVvbgP8CPL8HZbglIv45Iv4oIjZGxNnASGY+0vCcvcD5PXgvSZKkSolao9n8T5gLascy88sRsbH29ZGIGAVemZkfXvKbR5yfmfsiYhXwbuB5wNXAvswcb3jebcDHM3Nni2NsB7bXH4+Pj2/atWvXUoukATh+/Dhr1qwZdDG0CJ3U2eHp5Mb7ZgC4/vmjnDXWi7smtFR+n1WPdVY9W7duPZCZE70+btuwBhAR1wG/CpwHJPAAsD0z/yYi1mfmY10XJOKbgQcz85si4ihwQb11LSLuBt6SmXe0O87ExETu37+/2+JoGU1OTrJly5ZBF0OL0EmdPXpkimtu3gPAzdds5px1q5ejaJqH32fVY51VT0T0Jax1MnXHzwPXAT/HXNfn2cDbgPdExJXA3y7ljSNiPCLWN2x6NXBP7evbau9JbYDBecCdS3kfSZKkKutkNOibgK2Zua9h2ycj4gvAQ8B7lvjeTwd21bpTA3gY+JnavrcCH4qIh4Bp4GpHgkqSpJWok7A20hTUAMjMvRHxlcx821LeODMfBi6bZ99B4MqlHFeSJGmYdDIadCwiTrvDMSLWdvh6SZIkLVEnYetjzHVJrq9viIgNwE7AYZeSJEl91ElYewdwAtgfEfdExOeAfwWerO2TJElSn7S9Zy0zTwCviYiLgctrm+/JzC/1tWSSJEnqaIABAJn5ZeDLfSyLJEmSmjhAQJIkqWCGNUmSpIIZ1iRJkgpmWJMkSSqYYU2SJKlghjVJkqSCGdYkSZIKZliTJEkqmGFNkiSpYIY1SZKkghnWJEmSCmZYkyRJKphhTZIkqWCGNUmSpIIZ1iRJkgpmWJMkSSqYYU2SJKlghjVJkqSCGdYkSZIKZliTJEkqmGFNkiSpYIY1SZKkghnWJEmSCmZYkyRJKphhTZIkqWCGNUmSpIIZ1iRJkgpmWJMkSSqYYU2SJKlghjVJkqSCGdYkSZIKZliTJEkqmGFNkiSpYIY1SZKkghUb1iLiWyPiHyLiwYi4OyKePegySZIkLbdiwxrwh8D7MvPbgN8C/njA5ZEkSVp2Zwy6AK1ExLnA5cCVtU27gN+LiAsyc+9Cr51NePTIVJ9LqF46PJ3WWcV0UmeHjk4vU2kkabgVGdaAbwH+LTOfBMjMjIh9wPnA3oVeeOjoNNfcvKf/JVTPPH54hp17rbMqsc4kafmUGtYAsulxtHpSRGwHttcfn7FuA48ffryf5VKP5WxaZxWzmDo7e02w587djETLb2Etk+PHjzM5OTnoYmgRrDPVRWZzJhq8WjfoQ8DZmflkRATw78AL23WDPmPTRN73xS8vQynVK7t37+aKK64YdDG0CIupsw1njjE6YlAbtMnJSbZs2TLoYmgRrLPqiYgDmTnR6+MW2bKWmf8REfcAPw18APgpYG+7oAYwEnDOutX9LaB66qyxsM4qxjqTpOVTZFir+QXgAxHxduAw8NoBl0eSJGnZFRvWMvOLwIsGXQ5JkqRBKvKetW5ExBTwyKDLoUVZBxwZdCG0KNZZ9Vhn1WOdVc95mdnzhrBiW9aWKjO9kaZiImJ/P27IVP9YZ9VjnVWPdVY9EbG/H8cteQUDSZKkFc+wJkmSVDDDmkqwY9AF0KJZZ9VjnVWPdVY9famzoRtgIEmSNExsWZMkSSqYYU2SJKlghjX1TUSsiYj/NyIejIh7I+KvIuKC2r5za48fioj7I+LFDa87MyI+EhFfqr32Jwf2IVawiHhnRGREPLf22DorVESsjojfq9XNAxHxp7Xt1lmhImJLRHw2Iu6p1c1ra9uts0JExHsjYm/jz8Ha9iXVUUSMRMSNEfHl2v43dFqWoZtnTcV5H/CXmZkR8cba4yuBG4C7MnNrRGwGbo+IizPzSeDNwFRmPisiLgT+MSJ2Z+ahgX2KFSYiLgdeCOxr2GydlesGYBb4ttr32jc3bLfOChMRAXwYuCIz76v9EfsvEfExrLOS3A78FnBn0/al1tFPA88Gvg14GvC5iPhfmfkv7Qpiy5r6JjOPZ+Yn86lRLHcBF9W+3gbcVHveHuAgUP/r5JUN+74CfAp42XKVe6WLiNXMnf83AI0jkKyzAkXEOHAN8Pb691pm/nttt3VWtvW1/88Cvg5MYZ0VIzM/lZmtJrldah29EviDzJzJzG8AtwKv6qQstqxpOb0J+HhEnA2MZGbjsmB7gfNrX58PfHWefeq/Xwf+NDO/MtcAANZZ0S5m7hf9OyLih4BjwLuAe7HOilRr/dwGfCwijgIbgJ8EvgnrrGhd/ixste8FnbyvLWtaFhHxduBbgV+tbWqeMyaaHucC+9QnEfEiYDPw+y12W2dlWsVci/UXMvMFwBuBjzL3x7h1VqCIOAP4FeBlmflM4CXAB2u7rbPydVNHS6o/w5r6LiLezNxfjT+cmU9k5tdr2zc2PO2ZPHV/1D7ggnn2qb++H/gO4CsRsReYACaB7wbrrFBfZe5+tVsAMvPzwFeA7wTrrFCXAs/IzE/Dya60fwOeD9ZZybr8/bXk+jOsqa8iYjvwauC/ZeZjDbtuA66rPWczcB5P3cTZuO9C5gLE/1ymIq9omXlDZj4jMy/IzAuA/cCWzPxLrLMiZeajwN8CWwAi4pnAhcAXsc5K9a/ARER8O0BEPIu57uwHsc6qYKl1dBvwCxExGhH/hbl72P6skzd0BQP1TURMMPdD6WHgP2ubpzLzeyLi6cCHmPulMg28ITP/rva6ceBPgO9irsXg7Zl5+3KXX1BrXXtpZt5vnZUrIi5i7vyfDcwAv5aZ/8M6K1dEvBp4O3PnPoD/npkftc7KERE3MTc44DzgUeBIbZTnkuooIkaB9wJba2/xO5n5ex2VxbAmSZJULrtBJUmSCmZYkyRJKphhTZIkqWCGNUmSpIIZ1iRJkgrmclOS+i4i7q19OcbcIsb31x5/sfbvgczsaL6hLsrwCeDXM/OfmrZfy1ProK4GPpuZV/WzLO3UFvb+TGaeM8hySCqDYU1S32XmpXBKCLl0Od8/ItYxN6P/3U3bXwC8GfjuzPxGzC2Getlylk2S2rEbVNJARcQHIuKNta/fFREfiYi/iIgvRcStEXFZRPyviHg4InY0vO682v67I+K+iPj1Bd7mh4G/ytMnlvwW4HHgMMwtsJ2Zn2t4j8219/5MRHwuIn6qYd+PRsSeiPh8RNwbEd9T27619tz7IuLvIuLZte0/UHve79de80AtLNaPd13tM/898LqG7Rsj4q8j4p9rx7x58WdZUpXZsiapNC+o/TsCfA64gbmwdQZza5b+QWY+yNzC17+RmZ+qLYz9FxHx8sz8Hy2O+XLgAy22TwK/BPxrRPwdc0vG3JKZhyJiPfCHwI9m5r9HxDnAZyPi08BZwB8D/zUzH4yIVcCZEXEu8KfAFZn5zxFxFXAr8Nza+z0HeF1mvqHW/fobwJaIeD7wq8BlmXkwIn6/oYw/DezNzCsBasvUSFpBbFmTVJrJzHw8M2eA+4D/LzOnMvMoc/e3XVRb0uUHgffW7of7DPAs5hahP0UtSH0vsLt5X2Y+AfwfwI8A/wD8JHBfLRB9L3AR8Je19/gb5pYF+nbgvwGfrIVGMvNEZj4OfA9wb2b+c237LcytAfnNtbf8YmZ+pvb1PzK3HiTADwCfyMyDtcfvayjmXcDWiHhPRPw4cLSDcyhpiNiyJqk0xxu+nmnx+Azm/tBMYHNmnmhzvB8EPj3f82pdo/cA90TEjcAXmAtPU8B9mflfm18TEc9t3lbfVSvXaW9T+7/VZ6m/rqXM/MeIuBT4IeCngHdHxGW1MCtpBbBlTVLlZOZ/An8PvK2+LSKeERETLZ7+E0CrrlEi4jtqXZB13wJsBB5mrqXtWyPiBxuef2lEjDHXffrDEfFtte2rIuJpzLWWXRoR31nb/ipgf2Z+rc1H2g38SK0bFeDnGt7zQuYWkL4VuJ650bTr2hxP0hCxZU1SVV0F7IiIf649PgJcC+yvP6E2unML8MvzHONM4Hci4jzgGHMtXG/LzHtrr/8x4Lcj4neAVcA+4Ccy80sR8XPAR2rdrDPAL2Tm3RFxNXBLRIwCjwHb2n2QzLwvIv478A8R8TXgEw27fwDYHhEzwCjwy7UuV0krRJw+OEqShkNEvBB4R2a+dNBlkaSlMqxJkiQVzHvWJEmSCmZYkyRJKphhTZIkqWCGNUmSpIIZ1iRJkgpmWJMkSSqYYU2SJKlghjVJkqSC/f+TuozQJqhbtwAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# add anti-integral windup feature. Not yet final.\n", "\n", "def PI_antiwindup_2(Kp, Ki, MV_bar=0, MV_min=0, MV_max=100):\n", " MV = MV_bar\n", " e_prev = 0\n", " while True:\n", " t_step, SP, PV, MV = yield MV # <==== now gets MV from experiment\n", " e = PV - SP\n", " MV += -Kp*(e - e_prev) - t_step*Ki*e \n", " # MV = max(MV_min, min(MV_max, MV)) # <=== turn this off for demo\n", " e_prev = e\n", "\n", "experiment_2(PI_antiwindup_2(10, 0.5))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.3 Anti-reset Windup - Complete](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.3-Anti-reset-Windup---Complete)", "section": "3.7.3.3 Anti-reset Windup - Complete" } }, "source": [ "### 3.7.3.3 Anti-reset Windup - Complete\n", "\n", "With these considerations in place, the following cell presents a version of the PI control algorithm incorporating both range limits and direct feedback of the manipulated variables." ] }, { "cell_type": "code", "execution_count": 9, "metadata": { "nbpages": { "level": 3, "link": "[3.7.3.3 Anti-reset Windup - Complete](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.3.3-Anti-reset-Windup---Complete)", "section": "3.7.3.3 Anti-reset Windup - Complete" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# add anti-integral windup feature.\n", "\n", "def PI_antiwindup(Kp, Ki, MV_bar=0, MV_min=0, MV_max=100):\n", " MV = MV_bar\n", " e_prev = 0\n", " while True:\n", " t_step, SP, PV, MV = yield MV # <= now gets MV from experiment\n", " e = PV - SP\n", " MV += -Kp*(e - e_prev) - t_step*Ki*e \n", " MV = max(MV_min, min(MV_max, MV)) # <= range limits\n", " e_prev = e\n", " \n", "experiment_2(PI_antiwindup(10, 0.5))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.7.4 Manual Operation](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.4-Manual-Operation)", "section": "3.7.4 Manual Operation" } }, "source": [ "## 3.7.4 Manual Operation\n", "\n", "Manual operation can be implemented by specifying the manipulated variable. We will implement this by specifying a function that specifies values of manipulated variable whenever manual conteol is in effect. " ] }, { "cell_type": "code", "execution_count": 10, "metadata": { "nbpages": { "level": 2, "link": "[3.7.4 Manual Operation](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.4-Manual-Operation)", "section": "3.7.4 Manual Operation" } }, "outputs": [ { "data": { "image/png": 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CWkRMAb8HPAbsjgiA2cz8fuAtwO0R8SgwB1zXzkxQSZKkYTPI2aD7gYZNhZl5kMUlPCRJkgZufiE5/NTcGcf7sRTYoNdZkyRJ6ppmoarTa77h/Q9w4uSZvZzrVq/illddWQ1sx7r6xBWGNUmS1Hf9DlW9cuLkPK953yerNw1rkiSpP2rDVLWrr1sBaxChqhtqW9H6+RoMa5IkjZhWoas+iKxbvYo/eMUV/OoHHyxFwKrrmuya+vFpH/iVF5z2Pm58Y1ef7hTDmiRJJbbc1q6VtAidODnPa2//1EqKt6R+hapeWTUWfdnictDrrO0FZir/AP5rZv63iLgA2AlcBswCN2RmW+usSZJURvWh6+hc8vix2ZaP6WVX3PhZi7tSzj29cOpYNwNWv0JV2RWhZe1lmflw3bGbgPsyc1tlUdy7IuIy11qTJA2D+mDWKHQdOTrPzr17elaGdkLX5NnjAKeV1YDVf0UIa41sBy4ByMw9EXEQuBq4Z5CFkiSp00H2vWgNW0lr13JCVz+6+tRcEcLaHRExBvwj8OvAAjBW3Re0Yi9w0QDKJkkaAe0GsF53O9aGrt27d7Nly+a2Hmdr13Ab6EbuEXFRZu6LiNXAO4HnAdcB+zJzouZ+dwJ3Z+bOBtfYAeyo3p6YmNi0a9eu3hdeXTMzM8PatWsHXQwtg3VWPtbZMxYyOXay9jb8yWfnmVto/pheGB+DX/6uVdRmrPWrYWxx+0XrrIS2bdt2IDOnun3dgYa1WhHxTcAjmfmsiDgOXFxtXYuI+4E3Z+Y9ra4zNTWVbuReLm5WXD7WWfmMUp0t1UrWrZaxbgyyb9UaNkp1NiwioidhbZAbuU8AqzPzycqhVwIPVL6+E7gReEdlgsGFgLNBJUmnNAplnYSx5QQwux3VT4Mcs/aNwK6IWMXihu6PAb9QOfcW4PaIeBSYA65zJqgkCRYD2ePHZjtqIWsUzAxgKqqBhbXMfAy4ssm5g8A1/S2RJKlIOmk5a9VKZjBTmRRhNqgkScAzAa3TUGYY0zAxrEmSBqKdhWGbqYa089evMZRp6BnWJEk9t9JgZsuZZFiTJPXIcrs0q2oDmqFMMqxJkrqoG2PODGjS6QxrkqQVWW7XpsFMWhnDmiSpbZ20nBnMpJUxrEmS2jK/kNx4x6c58OSJJe9nQJO6y7AmSTplqX01Dx+fOyOo2bUp9Z5hTZJG3Epmbd68/XImJ8YNZlIfGNYkaQStdFkNgE0b1nHpxvWGNKlPDGuSNELa2QTdfTWlYjGsSdKIWGqCgJMCpOIyrEnSEKqfKHB0Lnns0LHTgpoBTSoHw5okDYmlxqEdOTrPuXs/c+r2zdsvd9yZVBKGNUkaAu2ugQZOEJDKxrAmSSU3v3BmFyec3s25e/dutmzZDDhBQCobw5oklVijFrVGa6CdMx6cv37NoIopqQOGNUkqiUa7C9TvKmAXpzR8DGuSVGDLWbzWSQPScDKsSVJBOWlAEhjWJKmwDj/V3sbp4KQBaZgVIqxFxG8C7wCel5kPR8QFwE7gMmAWuCEz7x1gESWp5+rHpB0+/szXbpwuja6Bh7WIuAp4AbCv5vBNwH2ZuS0iNgN3RcRlmfn0QAopST3WqstzcmLc2ZzSiBob5JNHxBrgVuB1QNac2l45TmbuAQ4CV/e9gJLUY9WN1Rutk1a1acM6Js8e73PJJBXFoFvWfhv4i8z8UsRis35EnAeMZeahmvvtBS7qf/EkqTeqIa3RDM9ql2eVXZ/SaBtYWIuIFwKbgbc2OJ31d1/iOjuAHdXbExMTTE9Pd6WM6o+ZmRnrrGSss84sZPKezy7wxEz9jzo4b23whQc+wVh0N5xZZ+VjnalqkC1rPwx8B1BtVZsCpoHXAETExprWtedw+pi2UzLzZuDm6u2pqancunVrD4utbpuensY6KxfrbGWqEwgOH5/j6Uc/w7mVxrPaGZ69akWzzsrHOlPVwMJaZt7E4kQCACJiL/DiymzQO4EbgXdUJhhcCDgbVFLptFrU1oVsJbUy6DFrzbwFuD0iHgXmgOucCSqpbFrN8HQhW0ntWHFYi4jVwH8CLgX+Z2b+Zc25WzLzDcu5XmZeXPP1QeCalZZNkgah0TppSy1q68QBSe3opGXtFmADsAf43Yh4UWb+X5VzP9hpwSSpTFq1ormoraSV6iSsvRC4IjMzIt4NfDAi3p2ZN7DE7E1JGia1kwbs7pTUC52EtdWZmQCZeTwiXgp8KCL+pDtFk6Ria9aa5jppkrqpkx0MDkXEd1dvVCYAbAe+AXh+pwWTpKJrtNF6tRXt/PVrTv0zqEnqRCctazcCM7UHMvPpiNgOvLyjUklSyTgmTVKvdBLWfiMzX1l/MDPngfd3cF1JKpz6mZ6wONuzyo3WJfVKJ2Ht27tWCkkqsFYzPSWplzoZsyZJQ29+IXns0LElg9qmDeuYPHu86XlJ6kQnLWvPi4h/b3A8gMzMCzq4tiQNXKMWtfqZnuBsT0m91UlYewT4iW4VRJKKotnaaa6XJmkQOglrs5n55a6VRJIKYKm10wxqkgahk7DmTyxJQ2OpnQhsUZM0SCsOa5l5ZTcLIkmD0monAsekSRqkTlrWJKn0ms32tDVNUlEY1iSNrKVme9qaJqkoDGuSRlb93p62pkkqIsOaJOFsT0nFZViTNBLa2dvToCapiAxrkoaee3tKKjPDmqShtdTaabXc21NSkRnWJA2lVmun1XLmp6QiG2hYi4i/AS4EFoCvA2/IzAcj4gJgJ3AZMAvckJn3Dq6kksqmfqYnONtTUjkNumVte2Y+CRARPwP8OXAVcBNwX2Zui4jNwF0RcVlmPj2wkkoqjfmFPG3ygGunSSqzgYa1alCrOJfFFjaA7cAllfvsiYiDwNXAPf0sn6TyadT9OTkxzvnr1wywVJK0coNuWSMidgJbKje3RcR5wFhmHqq5217gon6XTVL5NFro1skDksosMnPQZQAgIl4NvBy4DtiXmRM15+4E7s7MnQ0etwPYUb09MTGxadeuXX0osbplZmaGtWvXDroYWoYi19nRueSWh+YBuP47V3Hh2TAWdn0Wuc7UmHVWPtu2bTuQmVPdvm5hwhpARJwApoB9wMXV1rWIuB94c2be0+oaU1NTuX///p6WU901PT3N1q1bB10MLUOR6+zxY7Ncf9seAG67frPdnxVFrjM1Zp2VT0T0JKyNdfuC7YqIcyLi2TW3Xwo8AXwNuBO4sXJ8M4szRp0NKuk08wvJ48dmT/tXO7FAkobBIMesnQvsioh1LE4sOAS8ODMzIt4C3B4RjwJzwHXOBJVUy10JJI2KgYW1zPwK8H1Nzh0ErulviSSVgbsSSBo1A58NKkntclcCSaPIsCapNNyVQNIoMqxJKiV3JZA0KgxrkkrJXQkkjQrDmqTCqk4mqHJZDkmjyLAmqVCqAW1+IXnD+x/gxMn5QRdJkgbKsCapMNpdO81lOSSNEsOapEKYX0geO3TsjKC2bvUqbnnVladNInBSgaRRYliTNHCNWtSc7SlJiwxr6ov6geK1js4t7u/YjL+sh1ez3QhcO02SnmFYU9fVB7NWA8WPHJ1n5949Ta/XqBuslaIHvKXCa5E0eh/nF7JhwK7et9lrqz/f7HNx8/bLDWqSVMOwphVr9Eu5FzP4Tpyc5zXv++SyHrOSgNcvZZrlWP8+Vsv+1SfODNjrVq/iD15xBb/6wQcbvrZW58EWNUlqxLCmtiy3tayRZgFq9+7dbNmyueFzrjTUrCTg6UzLeR9PnJzntbd/atnnaz8XRW8RlaRBMKypqU7Wu1rODL5zxqPpSvQf+JUXLKu7sMytVkXS6n0cH4M/ffX3nurWrL9v7Wtrdd6AJklLM6wJWHnLWbPA0a1fwKvGmge5ZpYb8Aal6CFlqfdxz727+cZz1ja9b/1ra3VektScYW3EdDLOrCzrXa0k4OlMS72PYxFt37ed85Kk5gxrQ6zb48yKGMwkSRp2hrWSaXfJh16PM5MkSf1hWOuDbq2p1a3B870eZyZJkrrHsLYMKwldg56daGuZJEnlNnRhbSFZcuuilRp06Kq1nCUfDGaSJJXbwMJaRKwFPgg8F3gK+CpwQ2bujYgLgJ3AZcBs5fi97Vz38PE5rr+t+dZFg9LNNbUMYJIkjY5Bt6y9B/irzMyIeH3l9jXATcB9mbktIjYDd0XEZZn59CALCysPXQYsSZK0EgMLa5k5A3y05tB9wK9Wvt4OXFK5356IOAhcDdzT6rqTE+Pcdv2ZWxd1i6FLkiT106Bb1mq9Ebg7Is4DxjLzUM25vcBF7VxkLHDxTUmSNDQiMwddBiLibcBPAS8C1gH7MnOi5vydwN2ZubPBY3cAO6q3JyYmNu3atav3hVbXzMzMsHbt2tZ3VGFYZ+VjnZWPdVY+27ZtO5CZU92+7sDDWkS8CXgF8GOZ+WTl2HHg4mrrWkTcD7w5M+9pdb2pqancv39/7wqsrpuenmbr1q2DLoaWwTorH+usfKyz8omI4QtrlVaxa1kMaodrjr8X2JuZ76hMMNgFXNrOBIM1a9bkxo0be1Vk9cDs7Cxr1th1XSbWWflYZ+VjnZXPgQMHyMyuD2zveViLiHcBPw08B3heZj5cOX458CBwEpgH9gNfy8zvj4iLgX8AzgMS+L8z853tPJ8ta+XjX4/lY52Vj3VWPtZZ+UTEfGZ2fT7AWLcv2MBdLM7k/HLd8f8T+K3MHAd+CBgHfrBy7heA6cq57wBeHxGTfSirJElSofR8Nmhmfhwg4oxWwaWW53g58IuVc1+KiI8DLwHe2+vyFl239hmtcikSSZKKbSBLd7SxPMdFnN4SV3tuZM0vJDfe8WkOPHmia9fctGEdt157lYFNkqTOHevFRQe5zlr9YLn6tJBLnHvmxJlLdzA9Pd156Qro6FzyuX3d3Zv0yNEjfPgj05wzPriwNjMzM7R1Nqyss/KxzsrHOiul4QlrmflERBARG2ta154D7Kt8vQ+4GKg991EayMybgZurt6empnJYB2Q+fmyWnXsX9z29efvlTE6Mr/hah4/PseNDnwFgy5bNA11I2EG05WOdlY91Vj7WmaoG2bJ2J3AjUF2e40Lg3rpzvxgRlwA/DNwwkFIW1OTEeNcC1uHji2PgHL8mSVLx9DysRcStLE4OuBD4WEQcy8xvAd4C3B4RjwJzwHU166j9LvDnEfEFYAG4MTO/1uuyjqpqC5vj1yRJKp5+zAa9kcVWsvrjB4FrmjzmOIszQtUjk2ePs2nDutMmKxx48gSHn5pzb1VJkgqkSBu5q49WjQW3XnsVh5+aO238miRJKhbD2ghbNRa2okmSVHCGNZ2mOtmgykkHkiQNlmFNp6nvDnXSgSRJg9WPvUFVcNXJBo1UJx1IkqTBsGVNp002qHLSgSRJxWBYE+BkA0mSispuUEmSpAIzrEmSJBWYYU2SJKnADGuSJEkFZliTJEkqMMOaJElSgRnWJEmSCsywJkmSVGCGNUmSpAIzrEmSJBWYYU2SJKnADGuSJEkFZliTJEkqMMOaJElSgRnWJEmSCsywJkmSVGCGNUmSpAIzrEmSJBXYWYMugIrv8PE5ACbPHmfVWAy4NJIkjRbDmlra8aHPALBpwzpuvfYqA5skSX1kN6gamjx7nE0b1p127MCTJzj81NyASiRJ0miyZU0NrRoLbr32Kg4/Ncfh43OnWtckSVJ/GdbU1Kqx4Pz1awZdDEmSRprdoJIkSQVmWJMkSSoww5okSVKBGdYkSZIKzLAmSZJUYIY1SZKkAjOsSZIkFZhhTZIkqcA6CmsR8b5uFUSSJEln6rRlbUsnD46IvRHxLxHxYOXfyyvHL4iIv46IRyPi4Yi4usNyqksOH5/j8WOzzC/koIsiSdJIaLndVET8e7NTwIYulOFlmflw3bGbgPsyc1tEbAbuiojLMvPpLjyfOlDdI3TThnXceu1VrBqLAZdIkqTh1s7eoAG8CDjS4Pgnul6iRduBSwAyc09EHASuBu7p0fNpCZNnj7NpwzoOPHni1LEDT57g8FNz7h0qSVKPtRPWPgWcl5kP1Z+IiK92oQx3RMQY8I/ArwMLwFhmHqq5z17goi48l1Zg1Vhw67VXcfipOQ4fnzvVuiZJknovMpceexQRE8BcZp6MiI3Aicw81pUnj7goM/dFxGrgncDzgOuAfZk5UXO/O4G7M3Nng2vsAHZUb09MTGzatWtXN4pXOEfnklsemgfgDc9fxTnj/e+C7EUZZmZmWLt2bcfXUf9YZ+VjnZWPdVY+27ZtO5CZU92+bsuWtcw8HhGvi4i3AxcCGRGfBXZk5sciYkNmPrmSJ8/MfZX/T0bEHwCPZOYTEUFEbKxpXXsOsK/JNW4Gbq7enpqayq1bt66kOIX3+LFZdu7dA8CWLZsH0gXZizJMT08zrHU2rKyz8rHOysc6U1U7Ewx+GXg98EvAP1QO/wDwexHxa8B/Bb5nuU9cabFbXRP0Xgk8UPn6TuBG4B2VCQYXAvcu9zmkZuYXksNPzS37cZNnj7NqLM54fPW4JEnd1s6YtTcC26qtYBUfjYjPAY9Q06q1TN8I7IqIVSxOVngM+IXKubcAt0fEo8AccJ0zQdUt8wvJjXd8+rQJE+3atGEd73rllbzxAw+c9nhnx0qSeqWdsDZWF9QAyMy9EbE3M9+6kifOzMeAK5ucOwhcs5LrSq0cfmpuRUENFmfBPrDv8BmPP/DkCR47dIxLN643sEmSuqqdsDYeEWszc6b2YESsw+2qVHI3b7+cyYnxlvernQX7zo/886njb//J7zx1e8eHPmMLmySp69oJax9msUvyl6vjyyJiEngPMJzTLjUyJifG25ok0WituU0b1nHlRZOnHXf9OUlSt7UT1t4OvA/YXxlDlsC3AXdXzklDr3atuarqpIJbr72Kxw4dO239uaUmMJRxMkL961loseSPJKl72lm64yTwqoi4DLiqcviBzPxCT0smFcyqsWjYYrZqLE7rSj309Vle9xef5sTJ+YbXKVtXaaMJGWfNLXDNNXnqNTg7VpJ6p52WNQAy84vAF3tYFpXM4eNzhf+l3KiF6/Dx5S/ZsRxvvuuMzT5OU5au0up7d/j4mRMynphJHjt0jMmJceYXkje8/4HTwmnZAqkkFVnbYU2qV/QB9Z0s0bFcjca0rVu9iltedeWp96YsW3XNLySPH5s9I4DBmRMqmilLIJWkMjCsaVnqQ0mRfym3WqJj04Z1TJ7deiZoO5Ya01YmSwXc2gkVR44eOeP8utWr+K2XfNeplsV2WzDL+D5JUj8Z1rQszQbUF0lt911VoyU6uh0Smo1pK5P6gFvbOlg7oeLDH5lmy5bNpz128uzx08Jqu5+PIrfOSlIRGNa0bPUD6oukWctQu0t06Bk3b7+84SK/q8aCc8YbB9NG3cGtFLl1VpKKwLCmodKo67Ob3Z2jZHJi+S2PjbqDmynLGD5JGjTDmoZWteuziGOiijaTtlHX8UqtpDu4+rxFek8kqSgMaxpaRe76LMJM2mpAa7T0Rr9VW9jqZ9CCAU6SDGtSnzSaSVtdq6z+fr0OJ62WNelH13Gj8W0nTs7zmvd98oyyOAFB0igzrEl90mgmbaMxW/0IJ43G9jWa+dlLtePblmrdG/YJCO7+IKkVw5rUR6vGgks3rl9yxmS/w8kgx/bVjm/7wK+84LTQMuwTEJotPmxLoqR6hjWpz5rNmOxlOKlvvamdSFCUsX3DsE5dK+2MExz2lkRJy2dYU8cGOZNvqRBSZP0MJv3cdqtX6uu1TF2F7QS0le7+UKtM74mk5Rm6sLaQ8Pix2UEXoyeKGkSqrUH97r4ZhhDSzEoDcKPxT0ttu1WWNejqWxz7Pb6uXbXvf/V9XeozWn0d569fs6LdH2qNUvdp/ed8JYr0uSm6brzf7ajWSTvP16/669drb2Xowtrh43Ncf9ueQRdj6DWaydfv7pthCCHNrCQANwqv1Rabqvptt4r8C2up3RBqZ40WJaTUv/+bNqzjt17yXW1P5FjJ7g+12v3+a/cXIVCIX1L1urXUzFKfm27/gl7q+2yp5zo6lwNvfOjn0j6bNqzjXa+8kjd+4IGW3wf19deLUFWEZY2qhi6sjYIiBJHacVdFGAhephDSTLMAXL+8R7PX1ii8njg5f6prDYozPq0djcb2NfrhOcglUGrVv//V8FTVaiLHcnZ/OO15l/H9125r9IXnrgXgq0dmllWWMmkWbnvRYt8oGDabYFLryNF5du4dncaHA0+e4LHHj7X13tfW3zD3slQNXVibnBjntus3t75jiRUliBRpQHiZQkgzzQJw/S/i6g9+oOl4vd952fP5zf/3s2fMMhx0yF+uRp+x6qzRpd4jOL2LcVDfL0eeOnnq63Y+o51+T7Ua27dUa3StMoS0Rgsot6NVuG33PVqO+mBYxnCx0ve7Hc3qpP6P8Gb37UWd1VrOa9/4xt6UYejC2lhQ+l/aGl3VX9ZLdYkdePIEjxz8+hlhrNbGZ605YymMooT8TrXzHsEzXaXd6iZt1c3SaEzpOz/yzx0953ItNbbv6FyeVsZ2fxE2ul8RdOPz3Cjc1ur0tTcLIfXholkY2L17N1u2FKPxoV8/P5bzB061/lp9rjtVhJ+dQxfWpGHQqEus9gd/bddmvWoLWpFaPnuhWbdhfVdpbTfpcsYO1d53uS0ha1ePMXNy4dTtXrZqtju278jRec7d+0xwaLc1ehharZtpFG5rx3h287XXBor6cHHpxvUNP5fnjA/393Ajy/kDp1EQHtbPq2FNKqj6sNXol/Ko76XZLJB+4Fde0HCniGYtGOesXX3GoOba+84vZNtBrTpI+uhMTQtBD+uk3bF99WUsW5d4t7QKt0v9IdSJZl2vkxOj8/3aTKM6afYZXar+hvlzbVhT6VRbQIq6lEmvNPqlPErBbDma7RTRaO9ROLMlbKn7tupmGUSr5lJj+6pqu9SafW7qfxEO4y+/dsNtN157q676YXx/V2I5P9uWmogzzD8PDWsqlTIOzO2mYe/a7KZ29x4FTgtqjSZn1CpLN0v9Z6WdLrX6X4TD+suvnXDbjdfeaobvsL6/K7Gcn22j+HPQsKZSaTTrx79O1cxSe49C4wHgtZMz6kPeKHzWRvEXIfTudY/q+6nuMqypNOYXGs9m869TtaPRL81m3X7NQp6fNUmDYFhTKTTq/ixLd5SKq51uP1tGJA2aYU1d1atN3eu7P0ehO0r9YRiTVHSGNXVVPzZ1X2pdIkmShs3YoAug8quO+6lVvy9iV5/PdYkkSSPEljV1rGibukuSNEwMa+qKXo37GdUFcCVJqjKsqbBGfQFcSZLAMWsqMBfAlSTJljUVRLW7s6o+kLkAriRpVBnWNHALeWZ357rVq/itl3zXqdsugCtJGlV2g2rgjp3kjO7OEyfnefNdDw2oRJIkFUdhw1pEfGtE/H1EPBIR90fEcwddJi3P4eNzPH5s9tS/+YVs+ZjfednzWbd61WnHHKcmSRplRe4G/WPgPZn53oh4GfBnwAsHXCYtQ/16a+3sarDxWWtO2zgb3DxbkjTaChnWIuIC4CrgmsqhXcAfRsTFmbl3YAVTS9XdDBott3HgyRM8dugYkxOnt5IdO3n6/dyrUZKkZxQyrAHfDPxrZj4NkJkZEfuAi4C9gyyYlla7m0FV7a4GjXY3OHJ0nnPP6VsRJUkqlaKGNYD6AU4N+8EiYgewo3p7YmKC6enpXpZLy7SQyVlzCzwx03jMWi4kR44e4by1wZ57dzMWdnkW3czMjN9nJWOdlY91pqrIbD3ou98q3aCPAudl5tMREcC/AS9o1Q06NTWV+/fv70MptRz166jV2r17N1u2bHFsWolMT0+zdevWQRdDy2CdlY91Vj4RcSAzp7p93UK2rGXmv0fEA8DPA+8Ffg7Y63i18lpqHNo5445RkySpmUKGtYrXAu+NiLcBR4FXD7g8kiRJfVfYsJaZn8elOiRJ0ogr5Ji1TqxZsyY3btw46GJoGWZnZ1mzxm7QMrHOysc6Kx/rrHwOHDhAZnZ98HXPW9Yi4l3ATwPPAZ6XmQ9Xjl8A7AQuA2aBGzLz3sq5s1lcBHczsAC8NTM/3M7zbdy4EScYlIuDaMvHOisf66x8rLPyiYj5Xly3H9tN3QVcDXy57vhNwH2Z+a3A9cAdEVENj28CZjPzW4CtwB9FxGQfyipJklQoPW9Zy8yPA8SZa2dtBy6p3GdPRBxkMdTdA7wc+MXKuS9FxMeBl7A4M1RSySy1dIv64+hc8vix2UEXQ8tgnalqIBMMIuI8YCwzD9Uc3sviDgVU/v9yk3OSSmR+Ibnxjk833IJM/XPk6Dw79+4ZdDG0DNZZKR3rxUUHORu01Q4FucS5Z064g0HpuUp3+Synzo7OJZ/b15NhHFqG6k4hKg/rrJSGJ6xl5hMRQURsrGldew6wr/L1PuBioPbcR5tc62bg5urtqampdEBmuTiItnyWU2ePH5s91Tpw8/bLmZwY72XR1ER1pxCVh3VWPhvf3pvrDrJl7U7gRuAdEbEZuBC4t+7cL0bEJcAPAzcMpJSSumZyYtzdKgbEnULKxzpTVc9ng0bErRGxH5gCPhYRX6icegvwAxHxKIsTB67LzKcr534XWFe57zRwY2Z+rddllSRJKpp+zAa9kcVWsvrjB4FrmjzmOIszQiVJkkZaP9ZZkyRJ0goZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwAxrkiRJBWZYkyRJKjDDmiRJUoEZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwAxrkiRJBWZYkyRJKjDDmiRJUoEZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwAxrkiRJBWZYkyRJKjDDmiRJUoEZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwAxrkiRJBWZYkyRJKjDDmiRJUoEZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwFqGtYhYHRFvjYj3RMSL687d0ruiSZIkqZ2WtVuAK4DPA78bEb9fc+4HO3nyiNgbEf8SEQ9W/r28cvyCiPjriHg0Ih6OiKs7eR5JkqSyOquN+7wQuCIzMyLeDXwwIt6dmTcA0YUyvCwzH647dhNwX2Zui4jNwF0RcVlmPt2F55MkSSqNdlrWVmdmAmTmceClwAUR8Sc9LNd24NbKc+4BDgK2rkmSpJHTTlg7FBHfXb1Rad3aDnwD8PwulOGOiPiniPjTiNgYEecBY5l5qOY+e4GLuvBckiRJpRKVRrPmd1gMaicy84sRsbHy9bGIWAW8PDPfv+Inj7goM/dFxGrgncDzgOuAfZk5UXO/O4G7M3Nng2vsAHZUb09MTGzatWvXSoukAZiZmWHt2rWDLoaWYTl1dnQuueWheQDe8PxVnDPejdETWi6/z8rHOiufbdu2HcjMqW5ft2VYA4iIG4HfAC4EEvgssCMzPxYRGzLzyY4LEvFNwCOZ+ayIOA5cXG1di4j7gTdn5j2trjM1NZX79+/vtDjqo+npabZu3TroYmgZllNnjx+b5frb9gBw2/WbOX/9ml4WTU34fVY+1ln5RERPwlo7S3f8MnAj8Essdn2eB7wV+L2IuAb425U8cURMRMSGmkOvBB6ofH1n5TmpTDC4ELh3Jc8jSZJUZu3MBn0jsC0z99Uc+2hEfA54FPi9FT73NwK7Kt2pATwG/ELl3FuA2yPiUWAOuM6ZoJIkaRS1E9bG6oIaAJm5NyK+lJlvXckTZ+ZjwJVNzh0ErlnJdSVJkoZJO7NBxyPijBGOEbGuzcdLkiRphdoJWx9msUtyQ/VAREwCOwGnXUqSJPVQO2Ht7cBJYH9EPBARnwa+AjxdOSdJkqQeaTlmLTNPAq+KiMuAqyqHH8jML/S0ZJIkSWprggEAmflF4Is9LIskSZLqOEFAkiSpwAxrkiRJBWZYkyRJKjDDmiRJUoEZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwAxrkiRJBWZYkyRJKjDDmiRJUoEZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwAxrkiRJBWZYkyRJKjDDmiRJUoEZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwAxrkiRJBWZYkyRJKjDDmiRJUoEZ1iRJkgrMsCZJklRghjVJkqQCM6xJkiQVmGFNkiSpwAxrkiRJBVbYsBYR3xoRfx8Rj0TE/RHx3EGXSZIkqd8KG9aAPwbek5nfBvwO8GcDLo8kSVLfnTXoAjQSERcAVwHXVA7tAv4wIi7OzL1LPXYh4fFjsz0uobrp6FxaZyWznDo7fHyux6WRpOFWyLAGfDPwr5n5NEBmZkTsAy4C9i71wMPH57j+tj29L6G65sjReXbutc7KxDqTpP4palgDyLrb0ehOEbED2FG9fdb6SY4cPdLLcqnLciGts5JZSZ2dtzbYc+9uxqLht7J6bGZmhunp6UEXQ8tgnakqMusz0eBVukEfBc7LzKcjIoB/A17Qqhv02Zum8qHPf7EPpVS37N69my1btgy6GFqGldTZ5NnjrBozqA3K9PQ0W7duHXQxtAzWWflExIHMnOr2dQvZspaZ/x4RDwA/D7wX+Dlgb6ugBjAWcP76Nb0toLrqnPGwzkrGOpOk/ilkWKt4LfDeiHgbcBR49YDLI0mS1HeFDWuZ+XnghYMuhyRJ0iAVcsxaJyJiFjg06HJoWdYDxwZdCC2LdVY+1ln5WGflc2Fmdr0hrLAtayuVmQ6kKZmI2N+LAZnqHeusfKyz8rHOyici9vfiukXewUCSJGnkGdYkSZIKzLCmIrh50AXQslln5WOdlY91Vj49qbOhm2AgSZI0TGxZkyRJKjDDmiRJUoEZ1tQzEbE2Iv5HRDwSEQ9GxF9HxMWVcxdUbj8aEQ9HxNU1jzs7Ij4QEV+oPPZnB/YiRlhE/GZEZER8d+W2dVZQEbEmIv6wUjefjYi/qBy3zgoqIrZGxKci4oFK3by6ctw6K4iIeFdE7K39OVg5vqI6ioixiLglIr5YOf+6dssydOusqXDeA/xVZmZEvL5y+xrgJuC+zNwWEZuBuyLissx8GngTMJuZ3xIRlwD/EBG7M/PwwF7FiImIq4AXAPtqDltnxXUTsAB8W+V77ZtqjltnBRMRAbwf2JKZD1X+iP2XiPgw1lmR3AX8DnBv3fGV1tHPA88Fvg04F/h0RPyvzPyXVgWxZU09k5kzmfnRfGYWy33ApZWvtwO3Vu63BzgIVP86eXnNuS8BHwde0q9yj7qIWMPi+/86oHYGknVWQBExAVwPvK36vZaZ/1Y5bZ0V24bK/+cATwCzWGeFkZkfz8xGi9yutI5eDrw7M+cz82vAh4BXtFMWW9bUT28E7o6I84CxzKzdFmwvcFHl64uALzc5p977beAvMvNLiw0AYJ0V2mUs/qJ/e0T8GHACeAfwINZZIVVaP7cDH46I48Ak8LPAs7DOCq3Dn4WNzn1vO89ry5r6IiLeBnwr8BuVQ/VrxkTd7VzinHokIl4IbAb+qMFp66yYVrPYYv25zPxe4PXAB1n8Y9w6K6CIOAv4deAlmfkc4EXA+yqnrbPi66SOVlR/hjX1XES8icW/Gn88M5/KzCcqxzfW3O05PDM+ah9wcZNz6q0fBr4D+FJE7AWmgGng+8A6K6gvszhe7Q6AzPwM8CXgO8E6K6grgGdn5ifgVFfavwLPB+usyDr8/bXi+jOsqaciYgfwSuA/ZuaTNafuBG6s3GczcCHPDOKsPXcJiwHif/apyCMtM2/KzGdn5sWZeTGwH9iamX+FdVZImfk48LfAVoCIeA5wCfB5rLOi+gowFRHfDhAR38Jid/YjWGdlsNI6uhN4bUSsiohvYHEM239r5wndwUA9ExFTLP5Qegz4euXwbGZ+f0R8I3A7i79U5oDXZebfVR43Afw58D0sthi8LTPv6nf5BZXWtRdn5sPWWXFFxKUsvv/nAfPAb2Xmf7fOiisiXgm8jcX3PoD/kpkftM6KIyJuZXFywIXA48CxyizPFdVRRKwC3gVsqzzF72fmH7ZVFsOaJElScdkNKkmSVGCGNUmSpAIzrEmSJBWYYU2SJKnADGuSJEkF5nZTknouIh6sfDnO4ibGD1duf77y77OZ2dZ6Qx2U4SPAb2fmP9Ydv4Fn9kFdA3wqM6/tZVlaqWzs/cnMPH+Q5ZBUDIY1ST2XmVfAaSHkin4+f0SsZ3FF//vrjn8v8Cbg+zLza7G4GeqV/SybJLViN6ikgYqI90bE6ytfvyMiPhARfxkRX4iID0XElRHxvyLisYi4ueZxF1bO3x8RD0XEby/xND8O/HWeubDkNwNHgKOwuMF2Zn665jk2V577kxHx6Yj4uZpzPxkReyLiMxHxYER8f+X4tsp9H4qIv4uI51aO/0jlfn9UecxnK2Gxer0bK6/5fwOvqTm+MSL+JiL+qXLN25b/LksqM1vWJBXN91b+HQM+DdzEYtg6i8U9S9+dmY+wuPH1f87Mj1c2xv7LiHhpZv73Btd8KfDeBsengf8EfCUi/o7FLWPuyMzDEbEB+GPgJzPz3yLifOBTEfEJ4Bzgz4AfysxHImI1cHZEXAD8BbAlM/8pIq4FPgR8d+X5vgt4TWa+rtL9+p+BrRHxfOA3gCsz82BE/FFNGX8e2JuZ1wBUtqmRNEJsWZNUNNOZeSQz54GHgP8vM2cz8ziL49surWzp8qPAuyrj4T4JfAuLm9CfphKkfgDYXX8uM58C/gPwE8DfAz8LPFQJRD8AXAr8VeU5PsbitkDfDvxH4KOV0EhmnszMI8D3Aw9m5j9Vjt/B4h6Q31R5ys9n5icrX/8Di/tBAvwI8JHMPFi5/Z6aYt4HbIuI34uInwaOt/EeShoitqxJKpqZmq/nG9w+i8U/NBPYnJknW1zvR4FPNLtfpWv0AeCBiLgF+ByL4WkWeCgzf6j+MRHx3fXHqqcq5TrjaSr/N3ot1cc1lJn/EBFXAD8G/Bzwzoi4shJmJY0AW9YklU5mfh3438Bbq8ci4tkRMdXg7j8DNOoaJSK+o9IFWfXNwEbgMRZb2r41In605v5XRMQ4i92nPx4R31Y5vjoizmWxteyKiPjOyvFXAPsz86stXtJu4Ccq3agAv1TznJewuIH0h4A3sDibdn2L60kaIrasSSqra4GbI+KfKrePATcA+6t3qMzu3Ar8WpNrnA38fkRcCJxgsYXrrZn5YOXxPwX8bkT8PrAa2Af8TGZ+ISJ+CfhApZt1HnhtZt4fEdcBd0TEKuBJYHurF5KZD0XEfwH+PiK+Cnyk5vSPADsiYh5YBfxapctV0oiIMydHSdJwiIgXAG/PzBcPuiyStFKGNUmSpAJzzJokSVKBGdYkSZIKzLAmSZJUYIY1SZKkAjOsSZIkFZhhTZIkqcAMa5IkSQVmWJMkSSqw/x8nWFX5oMpLZgAAAABJRU5ErkJggg==\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "%matplotlib inline\n", "from tclab import TCLab, clock, Historian, Plotter, setup\n", "\n", "def experiment_3(controller, t_final=1000, t_step=5,\n", " SP=lambda t: 40 if t >= 20 else 0, \n", " DV=lambda t: 100 if t >= 420 else 0,\n", " MV=lambda t: 25 if t <= 100 else None): # <== manipulated variable. Return none for auto\n", " TCLab = setup(connected=False, speedup=60)\n", " with TCLab() as lab:\n", "\n", " # set up historian and plotter\n", " h = Historian(lab.sources)\n", " p = Plotter(h, t_final)\n", "\n", " # initialize manipulated variable\n", " lab.P1 = 200\n", " lab.Q1(next(controller))\n", "\n", " # event loop\n", " for t in clock(t_final, t_step):\n", " T1 = lab.T1\n", " U1 = lab.Q1()\n", " if MV(t) is None: \n", " U1 = controller.send((t_step, SP(t), T1, U1)) # automatic control\n", " else:\n", " U1 = MV(t) # manual control\n", " lab.Q1(U1)\n", " lab.Q2(DV(t))\n", " p.update(t) \n", " \n", "experiment_3(PI_antiwindup(10, 0.5))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[3.7.5 Bumpless Transfer](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.5-Bumpless-Transfer)", "section": "3.7.5 Bumpless Transfer" } }, "source": [ "## 3.7.5 Bumpless Transfer\n", "\n", "* Remove setpoint from proportional term" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[3.7.5.1 Bumpless Transfer](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.5.1-Bumpless-Transfer)", "section": "3.7.5.1 Bumpless Transfer" } }, "source": [ "### 3.7.5.1 Bumpless Transfer\n", "\n", "\\begin{align}\n", "e_k & = PV_k - SP_k \\\\\n", "\\hat{MV}_{k} & = MV_{k-1} - K_p(PV_{k} - PV_{k-1}) - \\delta t K_i e_{k} \n", "\\end{align}\n", "\n", "\\begin{align}\n", "MV_k & = \\max(MV^{min}, \\min(MV^{max}, \\hat{MV}_k)\n", "\\end{align}" ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "nbpages": { "level": 3, "link": "[3.7.5.1 Bumpless Transfer](https://jckantor.github.io/cbe30338-2021/03.07-Integral-Windup-and-Bumpless-Transfer.html#3.7.5.1-Bumpless-Transfer)", "section": "3.7.5.1 Bumpless Transfer" } }, "outputs": [ { "data": { "image/png": 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qSmHdoC28BfhwRGwBpjLzSMO5A8AlhZRKkiSpQJGZRZeBiHgn8H3Aq4B1wMHM3NBw/j7gw5m5p8Xn7gZ21x+vX79+2969e0dfaA3N3Nwca9euLboY6oF1Vj3WWfVYZ9Wzc+fOQ5l58bCvW3hYi4i3Aj8M/JvMPFY79hxwab11LSI+BrwtMx/odL3Vq1fnhRdeOLoCa+hOnTrFmjV2XVeJdVY91ln1WGfVc+jQITJz6IPhCw1rtVaxG1gKakcbjr8HOJCZ76pNMPgQcHk3EwxmZmbyyJEjnZ6mEpmdnWXHjh1FF0M9sM6qxzqrHuuseiJiITOHPh+gsAkGEXEx8OvAk8C+iAA4lZnfBrwdeF9EPAHMAzd2E9QkSZImTZGzQZ8CWjYVZuZhlpbwkCRJOmNhMTn6/HznJ47RqJcCK3qdNUmSNOGGFbAWFpNb3/8wJ08vDKFUw3P3Tdvry4adGMX1DWuSJOkcjQGr3nLUT+gqa8AaEcOaJEnqzTAC1rrVq/jNH76Sn/7gp0oRutatXsUdr7+qNLsQjXrrSsOaJEkVtlwYG1ar1snTC/zk+z4x0DWGGbBW2naRhYa1iDgAzNX+AfxKZv5RRFwA7AGuAE4BN2fmg8WUUpKk4eqmtev4fPL0iVMdrzPKLsbp85Y2Opp/YfHMsX5D10oLWMNUhpa1H8rMR5uO9b2RuyRJZdEqlHUbsJ49vsCeA/uHUo5BAhZw1nswdI1fGcJaK31v5C5J0ij0OvZrnAPrO4WxQQNWbaajClKGsHZPREwBfwv8Z2ARN3KXJBVkkNawXnQKWPv27eO667Z3dS1buyZb0dtNXZKZByNiNfBLwMuAG3Ej9xXFzYqrxzqrnpVaZ4uZnDjdy/Ph9x5bYH6x83O7NT0FP/HSVTRnqY2rYSraB6yVWmdVNrEbuddFxL8EHs/MrxpkI3f3Bq0e97+rHuuselZSndVbxopoDWul31avlVRnkyIiRhLWitwbdAOwOjOP1Q69Dni49vF9wC1AfSP3iwBng0qSzhhld2W7UGZ3o4pQ5Ji1C4EPRcQqlvYIfRL40do5N3KXJLW0sLi0pEW3oWycrWHSKBS5kfuTwFVtzrmRuyStQJ1mXHbbctYY0AxeqroyzAaVJK1AzcGsny5Muyu1EhjWJEkjN4xg1qge0rZuXGMo08QzrEmSRqLfWZndjDGz5UwriWFNkjQ0vQa0VsHMICadzbAmSRpItwHNYCb1x7AmSepar2PPnJUpDc6wJkla1iBdmwY0aXCGNUnSGf3O2jSgSaNjWJOkFc5JAVK5GdYkaQWya1OqDsOaJK0g3eyracuZVC6GNUmacAuLyfH55PDxubYhzZYzqbwMa5I0gZq7Ob/0zAJ7Dnz8rOcY0KRqMKxJ0oRZWExuueeTHDp2suV599WUqsWwJkkT5ujz8+cEtekp+P03fIutaFIFGdYkqeKa10Y7+txXPr591yvYvGGa/Q/u48Lz1xZRPEkDMqxJUgV1u/TG5g3TbN24hqmwJU2qKsOaJFVMpzFpdds2rWPz+ukxlUrSqBjWJKnkWnVzNgc110aTJpdhTZJKqNtuzvqYNIOZNLkMa5JUMr10c14+s9GQJk04w5oklUS9Nc1uTkmNShHWIuLngXcBL8vMRyPiAmAPcAVwCrg5Mx8ssIiSNBKdujvt5pRUeFiLiKuBa4CDDYdvAx7KzJ0RsR24PyKuyMwXCimkJI1Ap+5OuzklQcFhLSLWAHcCrwf2NZzaBVwGkJn7I+IwcC3wwLjLKEmjsLCYPHnkxLLdnbamSYLiW9Z+EfjDzPx81BZsjIgtwFRmHml43gHgkvEXT5KGZ7kuT7s7JbVTWFiLiFcC24F3tDidzU9f5jq7gd31x+vXr2d2dnYoZdR4zM3NWWcVY531bjGTux5b5Jm55h9vsGVt8LmH/2qkuwxYZ9VjnamuyJa17wS+Hqi3ql0MzAJvBIiImYbWtRdz9pi2MzLzduD2+uOZmZncsWPHCIutYZudncU6qxbrrHdPnzjFu5/Yz4saNhSod3lu3bhm5K1p1ln1WGeqKyysZeZtLE0kACAiDgCvrs0GvQ+4BXhXbYLBRYCzQSVVQvOOA9B6c3W7PCV1o+gxa+28HXhfRDwBzAM3OhNUUhV0s6BtfXN1SepGacJaZl7a8PFh4PriSiNJvWs3w7ORm6tL6lXfYS0iVgP/Cbgc+J+Z+ccN5+7IzFuHUD5JKrVuZng2sutTUq8GaVm7A9gE7Ad+LSJelZn/V+3cvx60YJJUdst1ebqgraRhGSSsvRK4MjMzIn4H+GBE/E5m3swyS21I0qQ4+nz7PTzHMcNT0sowSFhbnZkJkJnPRcQPAPdGxO8Np2iSVC7Nszyd4SlpHAYJa0ci4psy81GAzHwhInYBfwS8fCilk6SS6DTL0xmekkZlkLB2CzDXeKAhsL12oFJJUknUW9OOPndul2edMzwljdIgYe1nM/N1zQczcwF4/wDXlaRSaNea1jzL065PSaM0SFj7uqGVQpJKqNUEAmd5Shq30iyKK0lFcosoSWU1SFh7WUT8U4vjAWRmXjDAtSVpbNwiSlKZDRLWHge+d1gFkaSitOrubOQEAklFGiSsncrMLwytJJJUgIXFbNnd2ciuT0lFGiSs+ZNLUqW16v60u1NS2fQd1jLzqmEWRJLGpd3aaXZ3SiojZ4NKWlGWWzvNJTkklZFhTdKKsNxOBK6dJqnMDGuSJl6nnQicQCCpzAxrkiaWrWmSJoFhTdJEsjVN0qQwrEmaOAuLyZNHTtiaJmkiGNYkTZRWLWq2pkmqsqkiXzwi/ldEPBIRn4qIv4yIK2vHL4iIP42IJyLi0Yi4tshySqqO5q2j6q1pWzeuMahJqqSiW9Z2ZeYxgIj4fuC/AlcDtwEPZebOiNgO3B8RV2TmC4WVVFLluHaapElQaFirB7WaFwGLtY93AZfVnrM/Ig4D1wIPjLN8kqpt8wa7PSVVX9Eta0TEHuC62sOdEbEFmMrMIw1POwBcMu6ySSq3+tIcjRo3ZZekSRCZWXQZAIiINwCvBW4EDmbmhoZz9wEfzsw9LT5vN7C7/nj9+vXb9u7dO4YSa1jm5uZYu3Zt0cVQD8pQZ4uZ3PXYIs/Mtf8ZduvLV3H+tC1rUI46U2+ss+rZuXPnocy8eNjXLU1YA4iIk8DFwEHg0nrrWkR8DHhbZj7Q6RozMzN55MiRTk9TiczOzrJjx46ii6EelKHOnj5xipvu3t/2/LZN67jzhqvtBq0pQ52pN9ZZ9UTESMJaYd2gEXE+sDEzv1h7/APAM8A/A/cBtwDvqk0wuAh4sKiySiqXhcU8q7uzvjRHI5fpkDQpihyz9iLgQxGxjqWJBUeAV2dmRsTbgfdFxBPAPHCjM0ElQet11DZvmGbrxjUFlkqSRqewsJaZ/wB8a5tzh4Hrx1siSVXQah21zeunl/kMSaq2wmeDSlK/XEdN0kpQ6A4GkjQI11GTtBLYsiaptFxHTZIMa5JKqtVEAklaiQxrkkql3pp29Ln5ZYOaEwskrRSGNUml0a41zXXUJK1khjVJpbCwmDx55MQ5QW3bpnXO+JS0ohnWJBWm3uW5sJjc+v6HOXl64cy5emuaLWiSVjrDmqRCLDeBwNY0SfoKw5rGrnk5huPzydMnTvV9PVteqmW5CQTrVq/ijtdfxdaNa6xTSaoxrGnoWq2N1Xiuubvr2eML7Dmwv+/Xq/+Cb/fLvUxhbrl7UybDvmfLdXeCXZ6StBzDmoai0y/jUTp5eoE3vvfjbc93CnPjUsS96Vene9ZLa2in922XpyQtz7CmnjW3DvUTQhrDwL59+7juuu19laOb1+0U5nSuTvdsmK2htqZJ0vIMa+pKry1nvXRNnj8dbN24pq9yfeBN1/TU5VoGZWnpa2WU98yAJkn9MazpLK3GVPUT0Mb1y3jV1PJBb7kwV5SyB5Vu7lk/raFlf9+SVFaGtRVskO7MVq1DZfxl3CnM6Vzd3LNBWkMlSb0xrK0Qwx5nVsZgJknSJDKsVUw/Sz/0GszajakyoEmSNH6GtTEbZJ2tUQz+rkp3piRJK5VhrQeDLmha9OxEg5kkSdWzYsNar8Gr6KDVqN+lHwxmkiRVT2FhLSLWAh8EvhF4HvgScHNmHoiIC4A9wBXAqdrxB7u57mJ2Xlm96OA16Dpbhi5JklaOolvW7gL+JDMzIn6q9vh64DbgoczcGRHbgfsj4orMfKHTBU+chpvu7n9l9U6GsaCpYUuSJHWrsLCWmXPARxsOPQT8dO3jXcBlteftj4jDwLXAA8MsQz/By6AlSZLGqeiWtUZvAT4cEVuAqcw80nDuAHBJNxfZuBruvqm7ldUNXpIkqewiM4suAxHxTuD7gFcB64CDmbmh4fx9wIczc0+Lz90N7K4/Xr9+/ba9e/eOvtAamrm5OdauXVt0MdQD66x6rLPqsc6qZ+fOnYcy8+JhX7fwsBYRbwV+GPg3mXmsduw54NJ661pEfAx4W2Y+0Ol6MzMzeeTIkU5PU4nMzs6yY8eOoouhHlhn1WOdVY91Vj0RMZKwNjXsC/ai1ir2OuDf1oNazX3ALbXnbAcuArqaDSpJkjRJCmtZi4iLgX8AngS+XDt8KjO/LSIuBN7H0iSDeeDNmfnn3Vx39erVeeGFF46iyBqRU6dOsWaNm4JXiXVWPdZZ9Vhn1XPo0CEyc+iD4Uc+wSAifgv498CLgZdl5qO1U/PALEtrqZ3H2WupfRl4BrgcWA1s6fb1Nm3axFNPPTWk0mscbOqvHuuseqyz6rHOqiciRrKA6zi6Qe9nadmNLzQdr6+l9hLgJuCeiKiHx7ey1Mr2NcAO4N0RsXkMZZUkSSqVkbesZeZfAESc0yq43FpqrwV+rHbu8xHxF8BrgPeMurxV1O3WWZvXTwO0fa5LmUiSVD6FrLPWxVpql3B2S1zjOTVYWExuueeTHDp2suNzp89bakidf2Gx5fltm9Zx5w1XG9gkSerPiVFctMhFcZtnNjQnhFzm3FdOnLvOGrOzs4OXriKOzyefOTicLvJnjz/L3o/Mcv70eMPa3NzciqqzSWCdVY91Vj3WWSVNTljLzGcigoiYaWhdezFwsPbxQeBSoPHcR2khM28Hbq8/npmZyZU0IPPpE6fYc2BpL9Tbd72CzRumz3lO88b1zdtsHX1unt33fhqA667bztaN45195CDa6rHOqsc6qx7rTHVFtqzV11J7V4u11OrnfiwiLgO+E7i5kFJWyOYN022D1gfedM2ZsWqOTZMkqTpGPhs0Iu6MiKeAi4E/i4jP1U69Hfj2iHiCpYkDN2bmC7Vzvwasqz13FrglM/951GWdZKumgq0b17B145plg9rR5+ZZWCx+CzJJkrRkHLNBb6G2G0HT8cPA9W0+5zmWZoRqzHbf+2knGkiSVCKFbjelcti8fpptm9adeXzo2MmulgKRJEmjZ1gTq6aCO2+4mtt3vaLookiSpCaGNQFLga3VTFJJklSsImeDqsSOPnduN6izSCVJGj/Dmlqqr7vWyIkHkiSNn92gOqN5okEzJx5IkjR+tqzpjPpEg+ZA1rjDgSRJGi/Dms5SXzxXkiSVg92gkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihrUKW1jMljsNSJKkyeHSHRW1sJjccs8nOXTsZNFFkSRJI2TLWkUdfX7+rKC2bdM6Nq93I3ZJkiaNLWsT4PZdr+DymY3u2SlJ0gSyZW0CbN4wbVCTJGlCGdYkSZJKzLAmSZJUYoY1SZKkEjOsSZIklZhhTZIkqcQMa5IkSSVmWJMkSSoxw5okSVKJGdYkSZJKzO2m1JOjz80DsHm9uyZIkjQOhjX1ZPe9nwaWNo6/84arDWySJI2Y3aDqaPP6abZtWnfWsUPHTnL0+fmCSiRJ0sphy5o6WjUV3HnD1Rx9fp6jz82faV2TJEmjZ1hTV1ZNBVs3rim6GJIkrTh2g0qSJJWYYU2SJKnEDGuSJEklZliTJEkqMcOaJElSiRnWJEmSSmygsBYR7x1WQdSdhcXk6ROnzmz7JEmSJtug66xdN8gnR8QBYK72D+BXMvOPIuICYA9wBXAKuDkzHxzktSbBwmJyyz2f5NCxk0UXZSItLGbHXRncE1WSNG4dw1pE/FO7U8CmIZThhzLz0aZjtwEPZebOiNgO3B8RV2TmC0N4vco6+vz8OUFt26Z1bF4/XVCJqq8e0BYWk1vf/zAnTy8s+/x1q1dxx+uvYtVUGNwkSWPRTctaAK8Cnm1x/K+GXqIlu4DLADJzf0QcBq4FHhjR61XO7bteweYN0waGAfTTUnny9AJvfO/HgbODWyPrRJI0TN2EtU8AWzLzkeYTEfGlIZThnoiYAv4W+M/AIjCVmUcannMAuGQIrzUxNm+YLnz7p+Zxc1ULKa1aKtsFsFYtb43BrdG2Teu484arK3UvJEnlFZm5/BMiNgDzmXk6ImaAk5l5YigvHnFJZh6MiNXALwEvA24EDmbmhobn3Qd8ODP3tLjGbmB3/fH69eu37d27dxjFK53j88kdjyyFhVtfvorzp8cfBhrL0GzL2uBNL51iKnor19zcHGvXrh1G8XrS+F5u+oZVbFwNG1fTtvyLmZw4DYsJv/fYAvOL7a9dVP2MS1F1pv5ZZ9VjnVXPzp07D2XmxcO+bseWtcx8LiLeHBE/B1wEZEQ8BuzOzD+LiE2ZeayfF8/Mg7X/T0fEbwKPZ+YzEUFEzDS0rr0YONjmGrcDt9cfz8zM5I4dO/opTuk9feIUew7sB+C667YX0rK2sJj872Otuw5fALZf23u5ZmdnKaLOGu/n913fW7l/6NXnTkY4+tw8u+/9NFBc/YxLUXWm/lln1WOdqa6bCQY/AfwU8OPA39QOfzvw6xHxM8CvAN/c6wvXWuxWNwS91wEP1z6+D7gFeFdtgsFFwIqfDVoGq6aCO2+4+qyg0hhSVopVUzHRYUySVB7djFl7C7Cz3gpW89GI+AzwOA2tWj26EPhQRKxiabLCk8CP1s69HXhfRDwBzAM3rvSZoGViUJEkaXy6CWtTTUENgMw8EBEHMvMd/bxwZj4JXNXm3GHg+n6uK5VB1SdfDEvj2nUr9R5I0qC6CWvTEbE2M+caD0bEOtyuShXSvOjtKHeBaO4WXokzRJuXRlmJ90CShqGbsLaXpS7Jn6iPL4uIzcBdwIdGWDZpaMax+8Pm9dNs27Su5WscOnaSo8/Pr4ju43ooPvrc2UujrKR7IEnD1E1Y+zngvcBTtTFkCXwt8OHaOan0Wq2pVjesXSCcfNE5FNdbM+0SlaTudbN0x2ng9RFxBXB17fDDmfm5kZZMGpH67g91wwwOK23yRauu5eagtnb1FHOnlxalqwdXu0QlqXtdb+SemX8P/P0IyyKNRRl2f6iyhcXk+Hxy+Pjcsvup1kPx+WtX85YPPGyXqCT1qeuwJkn1bs7PHFxgz4Fzt9qq27ZpHZfPbDzTclbvHm7sFm41wcPuUUk6l2FNUkvNXZzQupuz1X6qzaGrVfdwq7F8do9K0rkMa5pojTMTi1alwfXdzJ6td3P28n6WmzELdo9KUiuGNU2scSzX0YuqDK5fWEyePHJi2fu2ZW2c1c3ZrVYzZoFzukerEGiHpbkFcyW9d0ndMaxpYrVarmNYy3R0q1VLUplbj1oF3ObZswD7H9zXd6DoNGN2972fPqtrdZLDS6v7XfYwL2n8DGtaEfrpshuGxpakKqy51hxwmycK1E3FcO9hc6g9eXqBN77342fKMInhpV0LZj3Mb14/bYubJMCwphWiyOU6qrr22u27XtFXV2c/6qH26ROnzlkOpMwtkf1q1aL2c//uG/ilj/y/ABz58ine/IefPOs+TGpoldSZYU1aodrN9qzbvGH8rZAXnr+WD7zpmsq0RPaq3VZc2zat49KtG848ftv9j5zzuZMYWiV1x7CmiVOmGaDtFDWIvn5vFhZz2QVti1TVlshGrYJwu3teb8EEzhnfuG71Kn7hNS89E96W+5q2m1SNnLgyWQxrmihlmwHazu57Pz32bq1e7s24J2J0UqUFdHu9z60WD65rHre2XEvjJHaTtgq9dWWt/1HqNoA5cWXyGNY0UcowA7Sd5kH0h46d5MkjJ8Y28aHVvWm1oG29rGX6oV6VBXS7WfZkuZmurVoVO61NV1eVbtLlAlhd/ft1udBbxvofpvq2bk+fOAXQctu2dveg1fd6Vb4+1JphTUNVpoVfi5oB2k59EP2TR06cCR9Frb1WtnvTStUW0O122ZNe73m7tenqqjK2b2ExW04gaWXbpnX8wmteumxA7bb+24XDMn/tn72t234A1q6eYu704lnP6+YeNE5c6WdoSJnv00oycWFtMb/yl8ikKfMYrLoyLfxaxg3bV00tLSY7qrXXlmu1aJ48ULZ706ybBXTLpNtlT/rR7Ti+5X5GLGYOXI5e9TtGsv79UNcYejvtL9v8+u1et/4zCihdmGvVMtYY1DoFsMZjL1q/+szH/XzfbNu0jt963VUcnzt95liR422LLEORJi6snTgNN929v+hirChVW/i1aKNae60q4/V6UdXJBuNc9qTRcl9L580vcv31WYoxku263xu/H559viEctPnjYpDvnUPHTvL0iVP8/P94rGUZ24W5cYeExmBW10sA67YbvZ1Dx05yw+8/dFZYbPXHeDfd2/1qFbpH0SAwyHsY9dfFxIW1laAsY7DqyrLw68JiVqL1EUYTQlr9Nd5K2b5+BlHWranGuexJt7+Mn5nLsf4BtdwYya0b13S8P80Bpa6f8NEYDs9qmVvme6ZdmBtWSOi2FbwxmNV1ew+2bVrH1o1rlu1Gb6fxPnXqfi3iD8XlGgT6CV2DzpC/+6btI/3emriwtnH10k2bZGX85VR0C8gktir1ojmothorVVfGr59+FTGrtlnRS8VUYUxbt2MkW4WQ5j8uOr3fdtdt9bqNrXf1MnYKc732GvSyjEu7sjfek14CWOP7HsbP51atfND9H4qDal7KppVJ/V0wcWFtKqrZbaLBtBovVLXWo24mZ7QatwHnzpqrwpi0fi03q7b5eaMOcGX5xTDOP5a6bbXoZ4xkqyDWqh6H9X4bg0erMjaGueXGifWyhEYvtqyNc4LZsANYLxpb+RrvQbd/KA6qeSmbVvUwaHBs10XfTdlGaeLCmlTUeKFBdZqc0W7tpOZZc1UMqr1YblZto3G0uJV5qZhWBp2tPY5wOurg2U3rXV1jmFtunFi75Vg6BYdOwWD/g/sKC2atWvQa71G71tpx/qHYqh5+4TUvPfO4n+BY1p4Hw5omzri3SRpEN5Mz2m1RVH/ugaefO/O4qkG1V+1m1TYa9ySXKiyHUv/l1svYsUb9tFqULbx2ar1rF+Yu39r+6+3k6QXe+N6PA+eOj6vrZxmXqSju66j5PtXrcLnvuXHU9XLj9U6eXjiri3SSehgMa1KB2k3OqP+Qbze2pbFLprkrp6xBYdi6WdpjGBMQqr4cSv2X27PHnz1zrB4uepnV1/xLuNtWizKG1+Va75YLc83HW31/Nga3RmX9+lhOq/u03Fi5cdR1t/VQtj8SBmVYkwrW6gdip22Frrpkc9ddOZOsU5fZoBMQyjImbRD1X257PzLLd3znt5z1S615Fw1ov2tAcxdTFcNHt9p9XbU6/oE3XdNxLblJ+t4sejJZuzLU66GujH8kDMKwJpXEcs37rcbEdDMQeyUa5rZek7Icyqqp4Pzp4MLz1/KBN13TcrxfPYy1e7/NXUxa0hgcmgNDnd+bo1eGEDlKhjVVWtHLJgzTcksSjHJG3KQZ1bZek7IcSrvxfs1hrP5+V0IX07D4PalRMaypsiahi6qZP+yHY7ltvfptZZukbr/GPwzahbHGiSqT3sUklZ1hTZVVtWUTNF7tJm80t7IBLdewmnTLdd813wf/iJCKZVjTyAy6plMvqrBsgsavHjLaLZHy+OEv8/P/47EzrUrN615NQvd6NwxjUrkZ1jQywxgn1K1J6qLS8LVrZWseMN9u2QVJKtJU0QXQZKm3YDSqL04qFaneelQfy9Zo+rwpps9r/+PQ7nVJRbJlTUPVrgVDKot2y54AhS72KUntGNY0dI5/Udm1+xr161ZSGdkNKkmSVGK2rKkymvcsXCkz9SRJK5thTZUwiQvgSpLUDbtBVQnL7dHoTD1J0iQrbctaRLwEeC+wFTgG/FhmfqbQQmksmrs7m4NY8x6NztSTJE2y0oY14HeBuzLzPRHxQ8AfAK8suEwasVbdnetWr+IXXvPSM49dAFeStJKUMqxFxAXA1cD1tUMfAn47Ii7NzAOFFUx9W24ywPH55OkTp848r7m78+TphXNWmpckaaUoZVgDvhr4Yma+AJCZGREHgUuAA0UWTP1ZbnHcZ48vsOfA/nOO/+oPvfysfRvB8WmSpJUnMrPoMpwjIr4Z2JOZL204th/4T5n5F03P3Q3srj9ev379tr17946trGpvMZO7Hlvkmbnlv8ZyMYmmMWdb1gZveunS/JcTp79yfONqmArHpxVtbm6OtWvXFl0M9cA6qx7rrHp27tx5KDMvHvZ1yxrWLgCeALZk5gsREcA/Atd06gadmZnJI0eOjKGU6kbzZIFW9u3bx3XXXXfWMScNlNvs7Cw7duwouhjqgXVWPdZZ9UTESMJaKbtBM/OfIuJh4EeA9wA/CBxwvFr1dLP11PnTbk8lSVI7pQxrNT8JvCci3gkcB95QcHkkSZLGrrRhLTM/i0t1SJKkFa60Ya1fx44d4+KLh95drBE6deoUa9bYDVol1ln1WGfVY51V0rZRXHTkYS0ifgv498CLgZdl5qO14xcAe4ArgFPAzZn5YO3cepYWwd0OLALvyMyupnhu2rSJp556aujvQ6PjINrqsc6qxzqrHuuseiJiofOzejeOvUHvB64FvtB0/Dbgocx8CXATcE9E1MPjW4FTmfk1wA7g3RGxeQxllSRJKpWRt6zV10WLc9fG2gVcVnvO/og4zFKoewB4LfBjtXOfj4i/AF7D0sxQSRXRzdItGo/GnUJUDdZZdYx6ualCxqxFxBZgKjMbF0Q7wNIOBdT+/0Kbc5IqoNU+rypOu51CVF7WWXXcfdP2+hJUJ0Zx/SInGDSvxtscSXOZc185ce4OBszOzg5eOo3N3NycdVYx3dTZ8fnkMwdHMnxDfcjF5NnjzxZdDPXAOquOffv2cf50wCSFtcx8JiKIiJmG1rUXAwdrHx8ELgUaz320zbVuB26vP56ZmUkHZFaLg2irp5s6e/rEqTOtArfvegWbN7ina5Fa7RSicrPOqmMiu0Fr7gNuAd4VEduBi4AHm879WERcBnwncHMhpZQ0sM0bpt2lomDuFFI91pnqRj4bNCLujIingIuBP4uIz9VOvR349oh4gqWJAzdm5gu1c78GrKs9dxa4JTP/edRllSRJKptxzAa9haVWsubjh4Hr23zOcyzNCJUkSVrRxrHOmiRJkvpkWJMkSSoxw5okSVKJGdYkSZJKzLAmSZJUYoY1SZKkEjOsSZIklZhhTZIkqcQMa5IkSSVmWJMkSSoxw5okSVKJGdYkSZJKzLAmSZJUYoY1SZKkEjOsSZIklZhhTZIkqcQMa5IkSSVmWJMkSSoxw5okSVKJGdYkSZJKzLAmSZJUYoY1SZKkEjOsSZIklZhhTZIkqcQMa5IkSSVmWJMkSSoxw5okSVKJGdYkSZJKzLAmSZJUYoY1SZKkEjOsSZIklZhhTZIkqcQMa5IkSSVmWJMkSSoxw5okSVKJGdYkSZJKzLAmSZJUYoY1SZKkEusY1iJidUS8IyLuiohXN527Y3RFkyRJUjcta3cAVwKfBX4tIn6j4dy/HuTFI+JARPx/EfGp2r/X1o5fEBF/GhFPRMSjEXHtIK8jSZJUVed18ZxXAldmZkbE7wAfjIjfycybgRhCGX4oMx9tOnYb8FBm7oyI7cD9EXFFZr4whNeTJEmqjG5a1lZnZgJk5nPADwAXRMTvjbBcu4A7a6+5HzgM2LomSZJWnG7C2pGI+Kb6g1rr1i7gXwAvH0IZ7omIv4uI34+ImYjYAkxl5pGG5xwALhnCa0mSJFVK1BrN2j9hKaidzMy/j4iZ2scnImIV8NrMfH/fLx5xSWYejIjVwC8BLwNuBA5m5oaG590HfDgz97S4xm5gd/3x+vXrt+3du7ffIqkAc3NzrF27tuhiqAfd1Nnx+eSORxYAuPXlqzh/ehijJtQvv8+qxzqrnp07dx7KzIuHfd2OYQ0gIm4Bfha4CEjgMWB3Zv5ZRGzKzGMDFyTiXwKPZ+ZXRcRzwKX11rWI+Bjwtsx8oNN1ZmZm8siRI52ephKZnZ1lx44dRRdDPeimzp4+cYqb7t4PwN03bWfrxjXjKJra8Puseqyz6omIkYS1bpbu+AngFuDHWer63AK8A/j1iLge+N/9vHBEbIiITQ2HXgc8XPv4vtprUptgcBHwYD+vI0mSVGXdzAZ9C7AzMw82HPtoRHwGeAL49T5f+0LgQ7Xu1ACeBH60du7twPsi4glgHrjRmaCSJGkl6iasTTUFNQAy80BEfD4z39HPC2fmk8BVbc4dBq7v57qSJEmTpJvZoNMRcc4Ix4hY1+XnS5IkqU/dhK29LHVJbqofiIjNwB7gQyMqlyRJkugurP0ccBp4KiIejohPAv8AvFA7J0mSpBHpOGYtM08Dr4+IK4Cra4cfzszPjbRkkiRJ6mqCAQCZ+ffA34+wLJIkSWriBAFJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJWZYkyRJKjHDmiRJUokZ1iRJkkrMsCZJklRihjVJkqQSM6xJkiSVWGnDWkS8JCL+OiIej4iPRcQ3Fl0mSZKkcSttWAN+F7grM78W+FXgDwoujyRJ0tidV3QBWomIC4Crgetrhz4E/HZEXJqZB5b73MVMnj5xasQl1DAdn7fOqqabOjv63PyYSiNJk62UYQ34auCLmfkCQGZmRBwELgEOLPeJJ07DTXfvH30JNTTPHl9gzwHrrEqsM0kan7KGNYBsehytnhQRu4Hd9cfnbdzMs8efHWW5NGS5mNZZxfRSZ1vWBvsf3MdUtPwW1pjMzc0xOztbdDHUA+tMdZHZnImKV+sGfQLYkpkvREQA/whc06kbdMvWrfnZA4fGUEoNy759+7juuuuKLoZ60EudbV4/zaopg1rRZmdn2bFjR9HFUA+ss+qJiEOZefGwr1vKlrXM/KeIeBj4EeA9wA8CBzoFNYCpCLZuXDPaAmqozp+2zqrGOpOk8SllWKv5SeA9EfFO4DjwhoLLI0mSNHalDWuZ+VnglUWXQ5IkqUilHLM2iIh4AfhS0eVQTzYCJ4ouhHpinVWPdVY91ln1XJSZQ28IK23L2gC+NIrBfRqdiHjKOqsW66x6rLPqsc6qJyKeGsV1y7yDgSRJ0opnWJMkSSqxSQxrtxddAPXMOqse66x6rLPqsc6qZyR1NnETDCRJkibJJLasSZIkTQzDmiRJUolNTFiLiJdExF9HxOMR8bGI+Maiy7TSRcTaiPjvtTr5VET8aURcWjt3Qe3xExHxaERc2/B56yPiAxHxudrn/ofC3sQKFhE/HxEZEd9Ue2ydlVRErImI367VzWMR8Ye149ZZSUXEjoj4REQ8XKubN9SOW2clERG/FREHGn8O1o73VUcRMRURd0TE39fOv7nbskxMWAN+F7grM78W+FXgDwouj5bcBXxdZl4J/HHtMcBtwEOZ+RLgJuCeiKiv+/dW4FRmfg2wA3h3RGweb7FXtoi4GrgGONhw2Dorr9uAReBrM/OlwM80HLfOSiYiAng/cFNmXgW8GvjdiPgqrLMyuR+4FvhC0/F+6+hHgG8Evhb4VuBtEfH1XZUkMyv/D7gAOAacV3scLO1icGnRZfPfWfX0LcDnah+fAGYazn0M+K7ax48B2xvO3Qv8WNHlXyn/gDXA3wCXAQeAb7LOyvsP2FD7+bexxTnrrIT/ar+jngG+o/b45cAhYNo6K9+/xp+Dtcd91RHwEeA/Npz7VeBd3ZRhUlrWvhr4Yma+AJBLd+EgcEmhpVKztwAfjogtwFRmHmk4d4Cv1NclnP2XTOM5jd4vAn+YmZ+vH7DOSu0Kln7x/1xEfDwi/jIiXmWdlVftd9QuYG9EfAF4EHgD8FVYZ6U24PdV3/U3KWENoHkNkiikFGopIt4JvAT42dqhTvWVy5zTiETEK4HtwLtbnLbOymk1cDnwmcz8FuCngA+ytJ2gdVZCtS6z/wy8JjNfDLwKeG/ttHVWfoPUUV/1Nylh7R+Ai+t9xrXxAF/N2eNtVJCIeCvwH4DvycznM/OZ2vGZhqe9mK/U10Hg0jbnNFrfCXw98PmIOABcDMyyNL7COiunL7A0Xu0egMz8NPB54BvAOiupK4F/lZl/BZCZ+4EvstQdap2V2IC/v/quv4kIa5n5T8DDLA3eA/hB4EBmHiisUAIgInYDrwP+bWYeazh1H3BL7TnbgYtY6gpoPncZSwHif46pyCtaZt6Wmf8qMy/NzEuBp4AdmfknWGellJlPA/+bpcHMRMSLWRpv+Fmss7KqNzB8HUBEfA1L3dmPY51VQb91dB/wkxGxKiL+BfBa4I+6ecGJ2cGg9kX/HmALcBx4Q2Y+VmihVriIuJilH0pPAl+uHT6Vmd8WERcC72Ppl8o88ObM/PPa520A/ivwzSy1GLwzM+8fd/kFtda1V2fmo9ZZeUXE5Szd/y3AAvALmfnfrLPyiojXAe9k6d4H8F8y84PWWXlExJ3Aa1gKY08DJzLza/qto4hYBfwWsLP2Er+Rmb/dVVkmJaxJkiRNoonoBpUkSZpUhjVJkqQSM6xJkiSVmGFNkiSpxAxrkiRJJXZe56dI0mAi4lO1D6dZ2sT40drjz9b+PZaZXa03NEAZPgL8Ymb+bdPxm4E3s7Sy+BrgE5l5wyjL0klEXAp8PDO3FlkOSeVgWJM0cpl5JZwVQq4c5+tHxEaWVvT/WNPxbwHeCnxrZv5zbfeTq8ZZNknqxG5QSYWKiPdExE/VPn5XRHwgIv44Ij4XEfdGxFUR8f9ExJMRcXvD511UO/+xiHgkIn5xmZf5HuBP89yFJb8aeJalhbTJJZ9seI3ttdf+eER8MiJ+sOHcv4uI/RHx6Yj4VER8W+34ztpzH4mIP4+Ib6wd/67a895d+5zHamGxfr1bau/5L4E3NhyfiYj/FRF/V7vm3b3fZUlVZsuapLL5ltq/E8AngdtYClvnsbRn6e9k5uMsbXz9y5n5F7V9gf84In4gM/9bi2v+AEs7nDSbBf4T8A8R8ecsbRlzT2YejYhNwO8C/y4z/zEitgKfiIi/As4H/gD4jsx8PCJWA+sj4gLgD4HrMvPvIuIG4F7gm2qv91LgjZn55lr36y8DOyLi5cDPAldl5uGIeHdDGX+Epe3zrgeobVMjaQWxZU1S2cxm5rOZuQA8AvzfmXkqM59jaXzb5bUtXb4b+K3aeLiPA1/D0ib0Z6kFqW8H9jWfy8zngf8D+F7gr4H/ADxSC0TfDlwO/EntNf6MpW2Bvg74t8BHa6GRzDydmc8C3wZ8KjP/rnb8Hpb2gPyXtZf8bGZ+vPbx37C0HyTAdwEfyczDtcd3NRTzIWBnRPx6RPx74Lku7qGkCWLLmqSymWv4eKHF4/NY+kMzge2ZebrD9b4b+Kt2z6t1jT4MPBwRdwCfYSk8nQIeyczvaP6ciPim5mP1U7VynfMytf9bvZf657WUmX8TEVcC/wb4QeCXIuKqWpiVtALYsiapcjLzy8BfAu+oH4uIfxURF7d4+vcDrbpGiYivr3VB1n01MAM8yVJL20si4rsbnn9lREyz1H36PRHxtbXjqyPiRSy1ll0ZEd9QO/7DwFOZ+aUOb2kf8L21blSAH294zctY2kD6XuBWlmbTbuxwPUkTxJY1SVV1A3B7RPxd7fEJ4GbgqfoTarM7dwA/0+Ya64HfiIiLgJMstXC9IzM/Vfv87wN+LSJ+A1gNHAS+PzM/FxE/Dnyg1s26APxkZn4sIm4E7omIVcAxYFenN5KZj0TEfwH+OiK+BHyk4fR3AbsjYgFYBfxMrctV0goR506OkqTJEBHXAD+Xma8uuiyS1C/DmiRJUok5Zk2SJKnEDGuSJEklZliTJEkqMcOaJElSiRnWJEmSSsywJkmSVGKGNUmSpBIzrEmSJJXY/w9wNw7zo2pecgAAAABJRU5ErkJggg==\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# add anti-integral windup feature.\n", "\n", "def PI_bumpless(Kp, Ki, MV_bar=0, MV_min=0, MV_max=100):\n", " MV = MV_bar\n", " PV_prev = None\n", " while True:\n", " t_step, SP, PV, MV = yield MV \n", " e = PV - SP\n", " if PV_prev is not None:\n", " MV += -Kp*(PV - PV_prev) - t_step*Ki*e \n", " MV = max(MV_min, min(MV_max, MV))\n", " PV_prev = PV\n", " \n", "experiment_3(PI_bumpless(10, 0.5))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "< [3.6 Lab Assignment 3: Relay and PI Control](https://jckantor.github.io/cbe30338-2021/03.06-Lab-Assignment-PI-Control.html) | [Contents](toc.html) | [Tag Index](tag_index.html) | [3.8 Lab Assignment 4: Cascade Control](https://jckantor.github.io/cbe30338-2021/03.08-Lab-Assignment-Cascade-Control.html) >

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