Update actuator model (#4000)

* Changed actuator model to use slew rate limiter instead of 2nd order filter. For #3965
lbl-srg · Sep 18, 2024 · 55203c6 · 55203c6
1 parent 86f1cb1
commit 55203c6
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diff --git a/Buildings/.copiedFiles.txt b/Buildings/.copiedFiles.txt
@@ -2293,6 +2293,7 @@ Buildings/Resources/Images/Fluid/Actuators/Valves/Examples/TwoWayValveTable_kv.p
 Buildings/Resources/Images/Fluid/Actuators/threeWayValvePressureDropSeries.png
 Buildings/Resources/Images/Fluid/Actuators/valvePressureDropSeries.png
 Buildings/Resources/Images/Fluid/Actuators/valveResponse.png
+Buildings/Resources/Images/Fluid/Actuators/valveResponse.svg
 Buildings/Resources/Images/Fluid/Actuators/valveSchematic.png
 Buildings/Resources/Images/Fluid/FMI/ExportContainers/Validation/RoomConvectiveHVACConvective.pdf
 Buildings/Resources/Images/Fluid/FMI/ExportContainers/Validation/RoomConvectiveHVACConvective.png
@@ -2355,8 +2356,11 @@ Buildings/Resources/Images/Fluid/Movers/BaseClasses/Validation/NegativePressureO
 Buildings/Resources/Images/Fluid/Movers/BaseClasses/Validation/NegativePressureOrFlow.svg
 Buildings/Resources/Images/Fluid/Movers/Data/stratoscurve.png
 Buildings/Resources/Images/Fluid/Movers/Examples/Supply.png
+Buildings/Resources/Images/Fluid/Movers/Preconfigured/PumpCharacteristic.png
+Buildings/Resources/Images/Fluid/Movers/Preconfigured/PumpCharacteristic.svg
 Buildings/Resources/Images/Fluid/Movers/UsersGuide/2013-IBPSA-Wetter.pdf
 Buildings/Resources/Images/Fluid/Movers/UsersGuide/fanSpeedFiltered.png
+Buildings/Resources/Images/Fluid/Movers/UsersGuide/fanSpeedFiltered.svg
 Buildings/Resources/Images/Fluid/Movers/UsersGuide/pumpCurve.png
 Buildings/Resources/Images/Fluid/Movers/Validation/PumpValidationHead.png
 Buildings/Resources/Images/Fluid/Movers/Validation/PumpValidationPower.png

diff --git a/Buildings/Air/Systems/SingleZone/VAV/ChillerDXHeatingEconomizer.mo b/Buildings/Air/Systems/SingleZone/VAV/ChillerDXHeatingEconomizer.mo
@@ -124,14 +124,12 @@ model ChillerDXHeatingEconomizer
     final m_flow_nominal=mAir_flow_nominal,
     final nominalValuesDefineDefaultPressureCurve=true,
     final dp_nominal=875,
-    final per(
-      final etaHydMet=Buildings.Fluid.Movers.BaseClasses.Types.HydraulicEfficiencyMethod.NotProvided,
-      final etaMotMet=Buildings.Fluid.Movers.BaseClasses.Types.MotorEfficiencyMethod.NotProvided),
+    final per(final etaHydMet=Buildings.Fluid.Movers.BaseClasses.Types.HydraulicEfficiencyMethod.NotProvided,
+        final etaMotMet=Buildings.Fluid.Movers.BaseClasses.Types.MotorEfficiencyMethod.NotProvided),
     final energyDynamics=Modelica.Fluid.Types.Dynamics.SteadyState,
     final allowFlowReversal=false,
-    final use_inputFilter=false,
-    redeclare package Medium = MediumA)
-    "Supply fan"
+    final use_riseTime=false,
+    redeclare package Medium = MediumA) "Supply fan"
     annotation (Placement(transformation(extent={{-30,30},{-10,50}})));
   Buildings.Fluid.FixedResistances.PressureDrop totalRes(
     final m_flow_nominal=mAir_flow_nominal,
@@ -182,7 +180,7 @@ model ChillerDXHeatingEconomizer
         extent={{10,-10},{-10,10}},
         origin={138,-174})));
   Buildings.Fluid.Movers.FlowControlled_m_flow pumChiWat(
-    final use_inputFilter=false,
+    final use_riseTime=false,
     final allowFlowReversal=false,
     redeclare package Medium = MediumW,
     final energyDynamics=Modelica.Fluid.Types.Dynamics.SteadyState,
@@ -195,9 +193,7 @@ model ChillerDXHeatingEconomizer
     final dp_nominal=12000,
     final inputType=Buildings.Fluid.Types.InputType.Continuous,
     final nominalValuesDefineDefaultPressureCurve=true)
-    "Pump for chilled water loop"
-    annotation (
-      Placement(transformation(
+    "Pump for chilled water loop" annotation (Placement(transformation(
         extent={{-10,-10},{10,10}},
         rotation=90,
         origin={120,-90})));
@@ -664,4 +660,4 @@ First implementation.
 </li>
 </ul>
 </html>"));
-end ChillerDXHeatingEconomizer;
+end ChillerDXHeatingEconomizer;
diff --git a/Buildings/Applications/BaseClasses/Equipment/ElectricChillerParallel.mo b/Buildings/Applications/BaseClasses/Equipment/ElectricChillerParallel.mo
@@ -4,10 +4,9 @@ model ElectricChillerParallel "Multiple identical electric chillers"
     redeclare final Buildings.Fluid.Chillers.ElectricEIR chi[num](
       final per=per));
 
-  replaceable parameter Buildings.Fluid.Chillers.Data.ElectricEIR.Generic per[num]
-    "Performance data"
-    annotation (choicesAllMatching = true,
-                Placement(transformation(extent={{42,74},{62,94}})));
+  replaceable parameter Buildings.Fluid.Chillers.Data.ElectricEIR.Generic per[
+    numAct] "Performance data" annotation (choicesAllMatching=true, Placement(
+        transformation(extent={{42,74},{62,94}})));
   annotation (    Documentation(info="<html>
 <p>
 This model implements a chiller parallel with <code>num</code> identical chillers. For the chiller model please see

diff --git a/Buildings/Applications/BaseClasses/Equipment/Validation/ElectricChillerParallel.mo b/Buildings/Applications/BaseClasses/Equipment/Validation/ElectricChillerParallel.mo
@@ -24,7 +24,6 @@ model ElectricChillerParallel "Model that test electric chiller parallel"
     per2 "Chiller performance data"
     annotation (Placement(transformation(extent={{32,50},{52,70}})));
   Buildings.Applications.BaseClasses.Equipment.ElectricChillerParallel chiPar(
-    num=2,
     redeclare package Medium1 = Medium1,
     redeclare package Medium2 = Medium2,
     m1_flow_nominal=mEva_flow_nominal,
@@ -104,10 +103,10 @@ equation
     annotation (Line(points={{-20,-50},{-16,-50},{-16,-26},{-10,-26}},
                             color={0,127,255}));
   connect(greaterThreshold.y, chiPar.on[1])
-    annotation (Line(points={{-19,60},{-16,60},{-16,-17},{-12,-17}},
+    annotation (Line(points={{-19,60},{-16,60},{-16,-16},{-12,-16}},
       color={255,0,255}));
   connect(greaterThreshold.y, chiPar.on[2])
-    annotation (Line(points={{-19,60},{-16,60},{-16,-15},{-12,-15}},
+    annotation (Line(points={{-19,60},{-16,60},{-16,-16},{-12,-16}},
       color={255,0,255}));
   connect(TSet.y, chiPar.TSet)
     annotation (Line(points={{-59,30},{-28,30},{-28,-20},{-12,-20}},

diff --git a/Buildings/Applications/BaseClasses/Equipment/Validation/PumpParallel.mo b/Buildings/Applications/BaseClasses/Equipment/Validation/PumpParallel.mo
@@ -18,8 +18,7 @@ model PumpParallel "Example that tests the model pump parallels"
     energyDynamics=Modelica.Fluid.Types.Dynamics.FixedInitial,
     threshold=thr1,
     tau=1,
-    use_inputFilter=false)
-    "Pumps with speed controlled"
+    use_riseTime=false) "Pumps with speed controlled"
     annotation (Placement(transformation(extent={{-18,30},{2,50}})));
 
   Buildings.Fluid.FixedResistances.PressureDrop dp2(

diff --git a/Buildings/Applications/DataCenters/ChillerCooled/Equipment/BaseClasses/PartialChillerWSE.mo b/Buildings/Applications/DataCenters/ChillerCooled/Equipment/BaseClasses/PartialChillerWSE.mo
@@ -12,7 +12,7 @@ partial model PartialChillerWSE
      numVal=4,
      final deltaM=deltaM1);
   extends Buildings.Applications.DataCenters.ChillerCooled.Equipment.BaseClasses.SignalFilterParameters(
-     final numFil=1,
+     final numAct=1,
      final yValve_start={yValWSE_start});
   extends Buildings.Applications.DataCenters.ChillerCooled.Equipment.BaseClasses.ThreeWayValveParameters(
      final activate_ThrWayVal=use_controller);
@@ -32,7 +32,7 @@ partial model PartialChillerWSE
     annotation(Dialog(group="Two-way valve"));
   parameter Real[numChi] yValChi_start=fill(0,numChi)
     "Initial value of output from on/off valves in chillers"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",enable=use_inputFilter));
+    annotation(Dialog(tab="Dynamics", group="Time needed to open or close valve",enable=use_strokeTime));
 
   //WSE
   parameter Modelica.Units.SI.Efficiency eta(
@@ -45,10 +45,11 @@ partial model PartialChillerWSE
     annotation(Dialog(group="Two-way valve"));
   parameter Real yValWSE_start=0
     "Initial value of output from on/off valve in WSE"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",enable=use_inputFilter));
+    annotation(Dialog(tab="Dynamics", group="Time needed to open or close valve",enable=use_strokeTime));
   parameter Real yThrWayValWSE_start=0
     "Initial value of output from three-way bypass valve in WSE"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",enable=use_controller and use_inputFilter));
+    annotation(Dialog(tab="Dynamics", group="Time needed to open or close valve",
+                      enable=use_controller and use_strokeTime));
 
   // Dynamics
   parameter Modelica.Fluid.Types.Dynamics energyDynamics=Modelica.Fluid.Types.Dynamics.DynamicFreeInitial
@@ -157,8 +158,8 @@ partial model PartialChillerWSE
     final num=numChi,
     final per=perChi,
     final homotopyInitialization=homotopyInitialization,
-    final use_inputFilter=use_inputFilter,
-    final riseTimeValve=riseTimeValve,
+    final use_strokeTime=use_strokeTime,
+    final strokeTime=strokeTime,
     final initValve=initValve,
     final m1_flow_nominal=m1_flow_chi_nominal,
     final m2_flow_nominal=m2_flow_chi_nominal,
@@ -183,7 +184,8 @@ partial model PartialChillerWSE
     final yValve_start=yValChi_start)
     "Chillers with identical nominal parameters but different performance curves"
     annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
-  Buildings.Applications.DataCenters.ChillerCooled.Equipment.WatersideEconomizer wse(
+  Buildings.Applications.DataCenters.ChillerCooled.Equipment.WatersideEconomizer
+    wse(
     redeclare final replaceable package Medium1 = Medium1,
     redeclare final replaceable package Medium2 = Medium2,
     final CvData=Buildings.Fluid.Types.CvTypes.OpPoint,
@@ -203,8 +205,8 @@ partial model PartialChillerWSE
     final deltaM2=deltaM2,
     final homotopyInitialization=homotopyInitialization,
     final l=lValWSE,
-    final use_inputFilter=use_inputFilter,
-    final riseTimeValve=riseTimeValve,
+    final use_strokeTime=use_strokeTime,
+    final strokeTime=strokeTime,
     final initValve=initValve,
     final energyDynamics=energyDynamics,
     final p_start=p2_start,
@@ -243,8 +245,7 @@ partial model PartialChillerWSE
     final show_T=show_T,
     final portFlowDirection_1=portFlowDirection_1,
     final portFlowDirection_2=portFlowDirection_2,
-    final portFlowDirection_3=portFlowDirection_3)
-    "Waterside economizer"
+    final portFlowDirection_3=portFlowDirection_3) "Waterside economizer"
     annotation (Placement(transformation(extent={{40,20},{60,40}})));
   Buildings.Fluid.Sensors.TemperatureTwoPort senTem(
     redeclare final replaceable package Medium = Medium2,

diff --git a/...s/DataCenters/ChillerCooled/Equipment/BaseClasses/PartialCoolingCoilHumidifyingHeating.mo b/...s/DataCenters/ChillerCooled/Equipment/BaseClasses/PartialCoolingCoilHumidifyingHeating.mo
@@ -38,20 +38,20 @@ partial model PartialCoolingCoilHumidifyingHeating "Partial AHU model "
     "Valve leakage, l=Kv(y=0)/Kv(y=1)"
     annotation(Dialog(group="Valve"));
 
-  parameter Boolean use_inputFilterValve=false
-    "= true, if opening is filtered with a 2nd order CriticalDamping filter for the water-side valve"
+  parameter Boolean use_strokeTime=false
+    "Set to true to continuously open and close valve on the water-side"
     annotation(Dialog(tab="Dynamics", group="Valve"));
-  parameter Modelica.Units.SI.Time riseTimeValve=120
-    "Rise time of the filter for the water-side valve (time to reach 99.6 % of an opening step)"
+  parameter Modelica.Units.SI.Time strokeTime=120
+    "Time needed to open or close valve"
     annotation (Dialog(
       tab="Dynamics",
       group="Valve",
-      enable=use_inputFilterValve));
+      enable=use_strokeTime));
   parameter Modelica.Blocks.Types.Init initValve=Modelica.Blocks.Types.Init.InitialOutput
     "Type of initialization (no init/steady state/initial state/initial output)"
-    annotation(Dialog(tab="Dynamics", group="Valve",enable=use_inputFilterValve));
+    annotation(Dialog(tab="Dynamics", group="Valve",enable=use_strokeTime));
   parameter Real yValve_start=1 "Initial value of output"
-    annotation(Dialog(tab="Dynamics", group="Valve",enable=use_inputFilterValve));
+    annotation(Dialog(tab="Dynamics", group="Valve",enable=use_strokeTime));
   // fan parameters
    parameter Buildings.Fluid.Types.InputType inputType = Buildings.Fluid.Types.InputType.Continuous
     "Control input type"
@@ -62,20 +62,20 @@ partial model PartialCoolingCoilHumidifyingHeating "Partial AHU model "
   parameter Modelica.Units.SI.Time tauFan=1
     "Time constant at nominal flow (if energyDynamics <> SteadyState)"
     annotation (Dialog(tab="Dynamics", group="Fan"));
-  parameter Boolean use_inputFilterFan=true
-    "= true, if speed is filtered with a 2nd order CriticalDamping filter"
+  parameter Boolean use_riseTime=true
+    "Set to true to continuously change motor speed"
     annotation(Dialog(tab="Dynamics", group="Fan"));
-  parameter Modelica.Units.SI.Time riseTimeFan=30
-    "Rise time of the filter (time to reach 99.6 % of the speed)" annotation (
+  parameter Modelica.Units.SI.Time riseTime=30
+    "Time needed to change motor speed between zero and full speed" annotation (
       Dialog(
       tab="Dynamics",
       group="Fan",
-      enable=use_inputFilterFan));
+      enable=use_riseTime));
   parameter Modelica.Blocks.Types.Init initFan=Modelica.Blocks.Types.Init.InitialOutput
     "Type of initialization (no init/steady state/initial state/initial output)"
-    annotation(Dialog(tab="Dynamics", group="Fan",enable=use_inputFilterFan));
+    annotation(Dialog(tab="Dynamics", group="Fan",enable=use_riseTime));
   parameter Real yFan_start(min=0, max=1, unit="1")=0 "Initial value of speed"
-    annotation(Dialog(tab="Dynamics", group="Fan",enable=use_inputFilterFan));
+    annotation(Dialog(tab="Dynamics", group="Fan",enable=use_riseTime));
   replaceable parameter Buildings.Fluid.Movers.Data.Generic perFan "Performance data for the fan"
     annotation (Placement(transformation(extent={{-80,80},{-60,100}})));
 
@@ -127,24 +127,23 @@ if not inputType == Buildings.Fluid.Types.InputType.Stages
     annotation (Placement(transformation(extent={{60,-64},{80,-44}})));
   replaceable Buildings.Fluid.Movers.BaseClasses.PartialFlowMachine fan
     constrainedby Buildings.Fluid.Movers.BaseClasses.PartialFlowMachine(
-      redeclare final package Medium = Medium2,
-      final per=perFan,
-      final allowFlowReversal=allowFlowReversal2,
-      final show_T=show_T,
-      final energyDynamics=energyDynamics,
-      final inputType=inputType,
-      final tau=tauFan,
-      final addPowerToMedium=addPowerToMedium,
-      final use_inputFilter=use_inputFilterFan,
-      final riseTime=riseTimeFan,
-      final init=initFan,
-      final p_start=p_start,
-      final T_start=T_start,
-      final X_start=X_start,
-      final C_start=C_start,
-      final C_nominal=C_nominal,
-      final m_flow_small=m2_flow_small)
-    "Fan"
+    redeclare final package Medium = Medium2,
+    final per=perFan,
+    final allowFlowReversal=allowFlowReversal2,
+    final show_T=show_T,
+    final energyDynamics=energyDynamics,
+    final inputType=inputType,
+    final tau=tauFan,
+    final addPowerToMedium=addPowerToMedium,
+    final use_riseTime=use_riseTime,
+    final riseTime=riseTime,
+    final init=initFan,
+    final p_start=p_start,
+    final T_start=T_start,
+    final X_start=X_start,
+    final C_start=C_start,
+    final C_nominal=C_nominal,
+    final m_flow_small=m2_flow_small) "Fan"
     annotation (Placement(transformation(extent={{-50,-70},{-70,-50}})));
   replaceable Buildings.Fluid.Actuators.BaseClasses.PartialTwoWayValveKv watVal
     constrainedby Buildings.Fluid.Actuators.BaseClasses.PartialTwoWayValveKv(
@@ -157,8 +156,8 @@ if not inputType == Buildings.Fluid.Types.InputType.Stages
       final homotopyInitialization=homotopyInitialization,
       final linearized=linearizeFlowResistance1,
       final rhoStd=rhoStd,
-      final use_inputFilter=use_inputFilterValve,
-      final riseTime=riseTimeValve,
+      final use_strokeTime=use_strokeTime,
+      final strokeTime=strokeTime,
       final init=initValve,
       final y_start=yValve_start,
       final dpValve_nominal=dpValve_nominal,

diff --git a/...ings/Applications/DataCenters/ChillerCooled/Equipment/BaseClasses/PartialHeatExchanger.mo b/...ings/Applications/DataCenters/ChillerCooled/Equipment/BaseClasses/PartialHeatExchanger.mo
@@ -21,23 +21,25 @@ partial model PartialHeatExchanger "Partial model for heat exchangers "
     start=0.8) "constant effectiveness";
 
    // Filter opening
-  parameter Boolean use_inputFilter=true
-    "= true, if opening is filtered with a 2nd order CriticalDamping filter"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",enable=activate_ThrWayVal));
-  parameter Modelica.Units.SI.Time riseTime=30
-    "Rise time of the filter (time to reach 99.6 % of an opening step)"
+  parameter Boolean use_strokeTime=true
+    "Set to true to continuously open and close valve"
+    annotation(Dialog(tab="Dynamics", group=
+          "Time needed to open or close valve",
+          enable=activate_ThrWayVal));
+  parameter Modelica.Units.SI.Time strokeTime=30
+    "Time needed to open or close valve"
     annotation (Dialog(
       tab="Dynamics",
-      group="Filtered opening",
-      enable=(activate_ThrWayVal and use_inputFilter)));
+      group="Time needed to open or close valve",
+      enable=(activate_ThrWayVal and use_strokeTime)));
   parameter Modelica.Blocks.Types.Init init=Modelica.Blocks.Types.Init.InitialOutput
     "Type of initialization (no init/steady state/initial state/initial output)"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",
-      enable=(activate_ThrWayVal and use_inputFilter)));
+    annotation(Dialog(tab="Dynamics", group="Time needed to open or close valve",
+      enable=(activate_ThrWayVal and use_strokeTime)));
   parameter Real yThrWayVal_start=1
     "Initial value of output from the filter in the bypass valve"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",
-      enable=(activate_ThrWayVal and use_inputFilter)));
+    annotation(Dialog(tab="Dynamics", group="Time needed to open or close valve",
+      enable=(activate_ThrWayVal and use_strokeTime)));
   parameter Modelica.Units.SI.PressureDifference dpValve_nominal(
     displayUnit="Pa",
     min=0,
@@ -67,8 +69,8 @@ partial model PartialHeatExchanger "Partial model for heat exchangers "
     final linearized={linearizeFlowResistance2,linearizeFlowResistance2},
     final rhoStd=rhoStd,
     final homotopyInitialization=homotopyInitialization,
-    final use_inputFilter=use_inputFilter,
-    final riseTime=riseTime,
+    final use_strokeTime=use_strokeTime,
+    final strokeTime=strokeTime,
     final init=init,
     final R=R,
     final delta0=delta0,

diff --git a/.../Applications/DataCenters/ChillerCooled/Equipment/BaseClasses/PartialIntegratedPrimary.mo b/.../Applications/DataCenters/ChillerCooled/Equipment/BaseClasses/PartialIntegratedPrimary.mo
@@ -14,12 +14,12 @@ model PartialIntegratedPrimary
 
   parameter Real yVal5_start(min=0,max=1) = 0
     "Initial value of output:0-closed, 1-fully opened"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",
-      enable=use_inputFilter));
+    annotation(Dialog(tab="Dynamics", group="Time needed to open or close valve",
+      enable=use_strokeTime));
   parameter Real yVal6_start(min=0,max=1) = 1-yVal5_start
     "Initial value of output:0-closed, 1-fully opened"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",
-      enable=use_inputFilter));
+    annotation(Dialog(tab="Dynamics", group="Time needed to open or close valve",
+      enable=use_strokeTime));
 
  Modelica.Blocks.Interfaces.RealInput yVal6(
    final unit = "1",
@@ -56,15 +56,14 @@ model PartialIntegratedPrimary
     final homotopyInitialization=homotopyInitialization,
     final linearized=linearizeFlowResistance2,
     final deltaM=deltaM2,
-    final use_inputFilter=use_inputFilter,
-    final riseTime=riseTimeValve,
+    final use_strokeTime=use_strokeTime,
+    final strokeTime=strokeTime,
     final init=initValve,
     final dpFixed_nominal=0,
     final dpValve_nominal=dpValve_nominal[5],
     final l=lVal5,
     final rhoStd=rhoStd[5],
-    final y_start=yVal5_start)
-    "Bypass valve: closed when fully mechanic cooling is activated;
+    final y_start=yVal5_start) "Bypass valve: closed when fully mechanic cooling is activated;
     open when fully mechanic cooling is activated"
     annotation (Placement(transformation(extent={{60,-30},{40,-10}})));
   Buildings.Fluid.Actuators.Valves.TwoWayLinear val6(
@@ -77,15 +76,14 @@ model PartialIntegratedPrimary
     final homotopyInitialization=homotopyInitialization,
     final linearized=linearizeFlowResistance2,
     final deltaM=deltaM2,
-    final use_inputFilter=use_inputFilter,
-    final riseTime=riseTimeValve,
+    final use_strokeTime=use_strokeTime,
+    final strokeTime=strokeTime,
     final init=initValve,
     final dpFixed_nominal=0,
     final dpValve_nominal=dpValve_nominal[6],
     final l=lVal6,
     final rhoStd=rhoStd[6],
-    final y_start=yVal6_start)
-    "Bypass valve: closed when free cooling mode is deactivated;
+    final y_start=yVal6_start) "Bypass valve: closed when free cooling mode is deactivated;
     open when free cooling is activated"
     annotation (Placement(transformation(extent={{-30,-30},{-50,-10}})));