- When the experiment is running (start/stop positive), the block injects test signals
into the plant at this port. The test signal is the value at u when the experiment begins
plus the experiment perturbation. If you have any saturation or rate limit protecting
the plant, feed the signal from u+Δu into it. - When the experiment is not running (start/stop zero or negative), the block passes
signals unchanged from u to u+Δu.
Data Types: single | double
% conv — Convergence of FRD estimation during experiment
scalar
When the experiment is running (start/stop positive), the block injects test signals into
the plant and measures the plant response at y. It uses these signals to estimate the
frequency response of the plant at several frequencies around the target bandwidth for
tuning. % conv indicates how close to completion the estimation of the plant frequency
response is. Typically, this value quickly rises to about 90% after the experiment begins,
and then gradually converges to a higher value. Stop the experiment when it levels off
near 100%.
Data Types: single | double
pid gains — Tuned PID coefficients
bus
This 4-element bus signal contains the tuned PID gains P, I, D, and the filter coefficient N.
These values correspond to the P, I, D, and N parameters in the expressions given in the
Form parameter. Initially, the values are 0, 0, 0, and 100, respectively. The block updates
the values when the experiment ends. This bus signal always has four elements, even if
you are not tuning a PIDF controller.
If you have a PID controller associated with the block, you can update that controller with
these values after the experiment ends. To do so, in the Block tab, click Update PID
Block.
Data Types: single | double
estimated PM — Estimated phase margin with tuned controller
scalar
This port outputs the estimated phase margin achieved by the tuned controller, in
degrees. The block updates this value when the tuning experiment ends. The estimated
Open-Loop PID Autotuner