PI PI Controller

Description This module implements a simple 32-bit digital PI controller with anti-windup
correction.

Ref
Out
PI
Fdb MACRO

Availability C interface version

Module Properties Type: Target Independent

Target Devices: 28x Fixed or Floating Point

C Version File Names: pi.h

IQmath library files for C: IQmathLib.h, IQmath.lib

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 PI C Interface

C Interface

Object Definition

The structure of PI object is defined by following structure definition

typedef struct {
Ref // Input: reference set-point
Fbk // Input: feedback
Out // Output: controller output
Kp // Parameter: proportional loop gain
Ki // Parameter: integral gain
Umax // Parameter: upper saturation limit
Umin // Parameter: lower saturation limit
up // Data: proportional term
ui // Data: integral term
v1 // Data: pre-saturated controller output
i1 // Data: integrator storage: ui(k-1)
w1 // Data: saturation record: [u (k-1) - v(k-1)]
} PI;

Module Terminal Variables/Macros

Item Name Description Format* Range(Hex)
Input Ref Reference input GLOBAL_Q 80000000-7FFFFFFF
Fbk Feedback input GLOBAL_Q 80000000-7FFFFFFF
UMax Maximum PI32 module output GLOBAL_Q 80000000-7FFFFFFF
UMin Minimum PI32 module output GLOBAL_Q 80000000-7FFFFFFF
Output Out PI Output (Saturated) GLOBAL_Q 80000000-7FFFFFFF
PI Kp Proportional gain GLOBAL_Q 80000000-7FFFFFFF
parameter Ki Integral gain GLOBAL_Q 80000000-7FFFFFFF
Internal up Proportional term GLOBAL_Q 80000000-7FFFFFFF
ui Integral term GLOBAL_Q 80000000-7FFFFFFF
v1 Pre-saturated controller output GLOBAL_Q 80000000-7FFFFFFF
i1 Integrator storage GLOBAL_Q 80000000-7FFFFFFF
w1 Saturation record GLOBAL_Q 80000000-7FFFFFFF
*
GLOBAL_Q valued between 1 and 30 is defined in the IQmathLib.h header file.

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 PI C Interface

Special Constants and Data types

PI
The module definition is created as a data type. This makes it convenient to instance an interface
to the PI module. To create multiple instances of the module simply declare variables of type PI.

PI_DEFAULTS
Structure symbolic constant to initialize PI module. This provides the initial values to the terminal
variables as well as method pointers.

Module Usage

Instantiation
The following example instances two PI objects
PI pi1, pi2;

Initialization
To Instance pre-initialized objects
PI pi1 = PI_DEFAULTS;
PI pi2 = PI_DEFAULTS;

Invoking the computation macro

PI_MACRO(pi1);
PI_MACRO(pi2);

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 PI C Interface

Example

The following pseudo code provides the information about the module usage.

/* Instance the PI module */

PI pi1=PI_DEFAULTS;
PI pi2=PI_DEFAULTS;

main()
{

pi1.Kp = _IQ(0.5); // Pass _iq parameters to pi1

pi1.Ki = _IQ(0.001); // Pass _iq parameters to pi1
pi1.Umax =_IQ(0.9); // Pass _iq parameters to pi1
pi1.Umin =_IQ(-0.9); // Pass _iq parameters to pi1

pi2.Kp = _IQ(0.8); // Pass _iq parameters to pi2

pi2.Ki = _IQ(0.0001); // Pass _iq parameters to pi2
pi1.Umax =_IQ(0.9); // Pass _iq parameters to pi2
pi1.Umin =_IQ(-0.9); // Pass _iq parameters to pi2

void interrupt periodic_interrupt_isr()

{
pi1.Ref = input1_1; // Pass _iq inputs to pi1
pi1.Fdb = input1_2; // Pass _iq inputs to pi1
pi2.Ref = input2_1; // Pass _iq inputs to pi2
pi2.Fdb = input2_2; // Pass _iq inputs to pi2

PI_MACRO(pi1); // Call compute macro for pi1

PI_MACRO(pi2); // Call compute macro for pi2

output1 = pi1.Out; // Access the output of pi1

output2 = pi2.Out; // Access the output of pi2
}

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 PI Technical Background

Technical Background

The PI_cntl module implements a basic summing junction and P+I control law with the following features:
 Programmable output saturation
 Independent reference weighting on proportional path
 Anti-windup integrator reset

The PI controller is a sub-set of the PID controller. All input, output and internal data is in I8Q24 fixed-
point format. A block diagram of the internal controller structure is shown below.

up

Umax
Kp Ki Umin

+ + ui + +
r(k) u(k)
- + Output
Reference
(Ref) (Out)
i1
z-1 v1
=?
y(k)
Feedback w1
(Fbk)

a) Proportional path

The proportional path is a direct connection between the error term and a summing junction with the
integral path. The error term is:

u p (k )  e(k )  K p r (k )  y(k ) .................................................................... (1)

b) Integral path

The integral path consists of a discrete integrator which is pre-multiplied by a term derived from the output
module. The term w1 is either zero or one, and provides a means to disable the integrator path when
output saturation occurs. This prevents the integral term from “winding up” and improves the response
time on recovery from saturation. The integrator law used is based on a backwards approximation.

ui (k )  ui (k  1)  Ki e(k ) ............................................................................. (2)

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 PI Technical Background

c) Output path

The output path contains a summing block to sum the proportional and integral controller terms. The
result is then saturated according to user programmable upper and lower limits to give the controller
output.

The pre-and post-saturated terms are compared to determine whether saturation has occurred, and if so,
a zero or one result is produced which is used to disable the integral path (see above). The output path
law is defined as follows.

v1 (k )  u p (k )  ui (k ) ................................................................................... (3)

U max :v1 (k )  U max


u (k )  U min :v1 (k )  U min ............................................................... (4)
v (k ) : U  v (k )  U
1 min 1 max

0 :v1 (k )  u (k )
w1 (k )   .............................................................................. (5)
1 :v1 (k )  u (k )

Tuning the P+I controller

Default values for the controller coefficients are defined in the macro header file which apply unity gain
through the proportional path, and disable both integral and derivative paths. A suggested general
technique for tuning the controller is now described.

Step 1. Ensure integral is set to zero and proportional gain set to one.

Step 2. Gradually adjust proportional gain variable (Kp) while observing the step response to achieve
optimum rise time and overshoot compromise.

Step 3. If necessary, gradually increase integral gain (Ki) to optimize the return of the steady state output
to nominal. The controller will be very sensitive to this term and may become unstable so be sure to start
with a very small number. Integral gain will result in an increase in overshoot and oscillation, so it may be
necessary to slightly decrease the Kp term again to find the best balance. Note that if the integral gain is
used then set to zero, a small residual term may persist in ui.

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