Overview

Description

The Integrator with Reset block computes the integral filter transformation. The integration sum is limited (Limit). The integral sum is calculated at the update rate, determined by the Evaluate Block.

Example

This example shows how to construct a PID Filter from scratch, the Integrator is placed on the Position Error, the Gain Ki, and the Integrator limit are specified as inputs to the Integrator block.

integrator

The block computes the summation of the input multiplied by the Gain Ki. The internal summation can be reset to zero with the reset integrator input.

The following parameters are used to configure this block:

Ts	Sample period of the PID algorithm. This is the cycle time of the PID algorithm in the Simulink simulation. This value has no effect on the PID execution on the controller.
Evaluate Block	This block allows you to specify whether the block executes Every Sample, Every Other Sample (Odd or Even), or Every Fourth Sample (and specify the First, Second, Third, or Fourth). This provides greater flexibility in controlling the execution of a model and to preserve performance for other areas of motion control.
User Defined Block Priority	When selected, allows you to enter a Priority Code to modify Execution Ordering of this block. For more information, see Block Execution Order and User Defined Block Priority.
Priority	For an explanation of how the Priority field is used by the MechaWare Model Downloader, see Block Execution Order and User Defined Block Priority.
User Data 0	Application-specific data. See User Data Storage.
User Data 1	Application-specific data. See User Data Storage.

Matlab/Simulink

Simulink Interface

diff sim1

The output of the Integrator with Reset Block is the summation of the input multiplied by the integration gain Ki. This output is limited to the value specified by the Limit input. The Reset Int input controls the resetting of the integrator sum internal to the block. When a non-zero value is detected at the Reset Int input, the integrator sum will be set to zero.

The block has two user data fields (User Data 0, User Data 1) to store application-specific data for convenient storage and retrieval. See User Data Storage for details.

The block's update schedule is determined by the Evaluate Block. The following Parameter Dialog Box can be opened by double-clicking on the block in a Simulink Model:

C++ API

INTEGRATOR_RBlock

Declaration

Public Method

	class INTEGRATOR_RBlock: public virtual Block { public: // User accessible coefficients };
	Required Header: mechaware.h

Description

The Integrator with Reset block calculates the summation of the input.

Methods

Block Methods