Dependencies
To enable this port, in Output Signal Configuration, select perturbation only.
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
phase margin is calculated from the angle of G(jωc)C(jωc), where G is the estimated plant,
C is the tuned controller, and ωc is the crossover frequency (bandwidth). The estimated
phase margin might differ from the target phase margin specified by the Target phase
margin (degrees) parameter. It is an indicator of the robustness and stability achieved
by the tuned system.
Closed-Loop PID Autotuner