CN103760765B - A kind of position type Auto-disturbance-rejection Control with no-harass switch function - Google Patents

Abstract

There is a position type Auto-disturbance-rejection Control for no-harass switch function, belong to technical field of automation in industry.The method comprises: the judgement of automatic disturbance rejection controller non-tracking state, and controller exponent number is selected; According to non-tracking state variable value and controller exponent number, export respectively by different account form update controller built-in variable and controller, and judge to carry out docking of corresponding controlled quentity controlled variable and its dependent variable of system by the selection of manual operator.Position type Auto-disturbance-rejection Control designed by the present invention can realize smooth transition in ADRC/PID/MAN Three models handoff procedure, can not cause additional disturbance and impact to controlled process, simulation result shows the validity that this position type Auto-disturbance-rejection Control is applied in process control and realizability.

Description

A kind of position type Auto-disturbance-rejection Control with no-harass switch function

Technical field

The invention belongs to industrial automation, especially a kind of position type Auto-disturbance-rejection Control with no-harass switch function.

Background technology

Although active procedure control field, comprise in the field such as thermal control process, chemical industry control, still based on PID control, in the implementation procedure of concrete digital control platform, PID controls all with its strong robustness, parameter tuning is easy, to be easy to accept by engineering staff, occupy critical role, but along with the economy of industrial processes and high efficiency are paid attention to gradually, control overflow also improves gradually, and especially for some more complicated high-orders, Multivariable Coupling, non-linear strong, object that interference is strong, PID controls to be difficult to meet the demands.Active Disturbance Rejection Control (ActiveDisturbanceRejectionControl, ADRC) thought is that Chinese Academy of Sciences's Han Jing Puritanism awards a kind of novel modified feedback linearization control strategy proposed in year.The method utilizes extended state observer (ExtendedStateObserver, ESO) interference inside and outside real-time estimating system, and utilize relevant control law to eliminate, there is independent of model and the strong advantage of interference rejection ability, and the uncertain factor of the coupling between different circuit and system can be regarded as " total disturbance ", this disturbance estimated in real time and compensates, therefore this controller is strong in uncertainty, interference is many, there is good control effects in the process of Multivariable Coupling.Based on above feature, Active Disturbance Rejection Control is that Industry Control provides a kind of new approaches.

But in process control digital platform, a kind of input of new control mode may cause brings additional impact and disturbance in control mode switch process to system.Therefore must consider the no-harass switch problem between different control algolithm, this is the important safety sex chromosome mosaicism in the design process of Process Control System.Up to the present, no-harass switch Study on Problems for automatic disturbance rejection controller is less, if in practical application in industry process, only directly adopt basic controlling algorithm realization Active Disturbance Rejection Control, do not consider the problem of no-harass switch, just cannot make controlled quentity controlled variable smooth transition in control mode switch process, be unfavorable for the security of system, therefore be necessary to carry out research and exploitation for this problem.

Summary of the invention

The object of the invention is to design a kind of position type Auto-disturbance-rejection Control with no-harass switch function, controlled quentity controlled variable smooth transition is made in control mode switch process, improve security during Auto-disturbance-rejection Control input coefficient, for the application of Auto-disturbance-rejection Control in process control field lays the foundation further.

Technical scheme of the present invention is as follows:

1, there is a position type Auto-disturbance-rejection Control for no-harass switch function, it is characterized in that the method comprises the steps:

1) by the working control amount assignment of a upper moment controlled process to variable u _ini;

2) " automatically " state variable SA of controlled process and " Active Disturbance Rejection Control mode " state variable ADRC_OPT are carried out asking and logic, obtain " non-tracking " state variable ADRC_SA of automatic disturbance rejection controller; The inverse of ADRC_OPT is carried out asking and logic with SA, obtains " non-tracking " state variable PID_SA of PID controller, connect " non-tracking " status port of former PID controller;

3) value of ADRC_SA is judged:

If i) ADRC_SA=0, then the exponent number judging automatic disturbance rejection controller, as automatic disturbance rejection controller exponent number ADRC_ord=1, calculate the variable z upgrading extended state observer in automatic disturbance rejection controller according to following formula ₁and z ₂:

$\left\{\begin{array}{c}{z}_1\left(k\right)=y\left(k\right)\\ z_2\left(k\right)=-b_0{u}_{\mathrm{ini}}\end{array}\right.---\left(1\right)$

Wherein, k represents current calculating step sequence, b ₀for control law coefficient, y is controlled process variable, and this variate-value upgrades according to the output of process variable PV, i.e. y (k)=PV (k); Work as ADRC_ord=2, calculate the variable z upgrading extended state observer in automatic disturbance rejection controller according to following formula ₁, z ₂and z ₃:

$\left\{\begin{array}{c}{z}_1\left(k\right)=y\left(k\right)\\ z_2\left(k\right)=0\\ z_3\left(k\right)=-b_0{u}_{\mathrm{ini}}\end{array}\right.---\left(2\right)$

Ii) if ADRC_SA=1, then judge the exponent number of automatic disturbance rejection controller, work as ADRC_ord=1, upgrade the variable z of extended state observer in automatic disturbance rejection controller according to following formula ₁and z ₂:

$\left\{\begin{array}{c}{z}_1\left(k\right)=z_1(k-1)+h\{z_2(k-1)+{\mathrm{\β}}_1[y(k-1)-z_1(k-1)]+b_{0}u(k-1)\}\\ z_2\left(k\right)=z_2(k-1)+h\left\{{\mathrm{\β}}_2\right[y(k-1)-z_1(k-1)\left]\right\}\end{array}\right.---\left(3\right)$

Wherein, u is that the control variable of automatic disturbance rejection controller exports, β ₁, β ₂for observer coefficient, h is material calculation; Work as ADRC_ord=2, upgrade the variable z of extended state observer in automatic disturbance rejection controller according to following formula ₁, z ₂and z ₃:

$\left\{\begin{array}{c}{z}_1\left(k\right)=z_1(k-1)+h\{z_2(k-1)+{\mathrm{\β}}_1[y(k-1)-z_1(k-1)\left]\right\}\\ z_2\left(k\right)=z_2(k-1)+h\{z_3(k-1)+{\mathrm{\β}}_2[y(k-1)-z_1(k-1)]+b_{0}u(k-1)\}\\ z_3\left(k\right)=z_3(k-1)+h\left\{{\mathrm{\β}}_3\right[y(k-1)-z_1(k-1)\left]\right\}\end{array}\right.---\left(4\right)$

Wherein, β ₃for observer coefficient;

4) output of automatic disturbance rejection controller is calculated according to controller exponent number:

I) as ADRC_ord=1, the controlled quentity controlled variable upgrading automatic disturbance rejection controller according to following formula exports:

$u\left(k\right)=\frac{k_p[r\left(k\right)-z_1\left(k\right)]-z_2\left(k\right)}{b_0}---\left(5\right)$

Wherein, k _pfor control law coefficient, r is setting value input, is connected with controlled process current set value SP, that is: r (k)=SP (k); If SA=0, then SP follows the tracks of y all the time, i.e. SP (k)=y (k), if SA=1, then SP per moment is all updated to the setting value of operator's current setting;

Ii) as ADRC_ord=2, the controlled quentity controlled variable upgrading automatic disturbance rejection controller according to following formula exports:

$u\left(k\right)=\frac{k_p[r\left(k\right)-z_1\left(k\right)]-k_d{z}_2\left(k\right)-z_3\left(k\right)}{b_0}---\left(6\right)$

Wherein, k _dfor control law coefficient;

5) according to the value of SA and the value of ADRC_OPT, the manual operator output quantity be connected with the topworks in actual controlled process is upgraded:

If i) SA=0, then manual operator exports as operator's setting value;

Ii) if SA=1 and ADRC_OPT=1, then manual operator exports and exports u (k) for automatic disturbance rejection controller calculates, if SA=1 and ADRC_OPT=0, then manual operator exports is the output of PID controller; Manual operator exports and finally sends into topworks.

The present invention compared with prior art, has the following advantages and the technique effect of high-lighting: on the rudimentary algorithm basis of Active Disturbance Rejection Control, add the judgement of " non-tracking " state, distinguishes the account form of variable in the extended state observer under different conditions.When system adopts Auto-disturbance-rejection Control to calculate controlled quentity controlled variable, when namely automatic disturbance rejection controller is in " non-tracking " state, calculate according to linear active disturbance rejection rudimentary algorithm; When system does not adopt Auto-disturbance-rejection Control to calculate controlled quentity controlled variable, when namely automatic disturbance rejection controller is in " tracking " state, in Active Disturbance Rejection Control, the variable update of state observer adopts new account form; Judge that port connects to the tracking of original controller to improve, finally make to switch before and after control model the moment, the controlled quentity controlled variable sending into actual controlled process is consistent, and additional impact and disturbance can not occur simultaneously.According to designed Auto-disturbance-rejection Control, when Active Disturbance Rejection Control being introduced the process platform of existing pid control function, except realizing basic single order and second order Active Disturbance Rejection Control function, there is the no-harass switch function of ADRC/PID/MAN tri-kinds of control models, improve the security of automatic disturbance rejection controller when process control field is applied and practicality.

Accompanying drawing explanation

Fig. 1 is position type Auto-disturbance-rejection Control overall calculation process flow diagram.

Fig. 2 is that controller state selects logical schematic.

Switch test-the output of process value curve that Fig. 3 is Active Disturbance Rejection Control exponent number when being 1.

Switch test-controlled quentity controlled variable curve that Fig. 4 is Active Disturbance Rejection Control exponent number when being 1.

Switch test-the output of process value curve that Fig. 5 is Active Disturbance Rejection Control exponent number when being 2.

Switch test-controlled quentity controlled variable curve that Fig. 6 is Active Disturbance Rejection Control exponent number when being 2.

Embodiment

The no-harass switch methods combining accompanying drawing of the linear single order of a kind of position type that the present invention proposes and second-order active disturbance rejection controller is described in detail as follows:

The present invention propose method be based on the discretize of continuous type automatic disturbance rejection controller after Active Disturbance Rejection Control Digital Implementation, the linear active disturbance rejection form selected, adopts Han Jing show clearly observer in " automatic disturbance rejection controller technology---the control technology of estimation compensation uncertain factor " and linear error is fed back and control law.Linear single order and second-order active disturbance rejection controller adopt Euler method discrete, and obtaining can the automatic disturbance rejection controller of Digital Implementation, therefore in discretization process, takes following processing mode to derivative component in control algolithm:

$\stackrel{\·}{x}=\frac{x(k+1)-x\left(k\right)}{h}---\left(7\right)$

Wherein, h is sampling step length, represent the first order derivative of variable x, k is for calculating step sequence.In the digital implementations of this Active Disturbance Rejection Control algorithm, input/output port y, r and u of controller represent actual absolute figure but not increment size, and the controller therefore designed by the method is a kind of position type numeric type automatic disturbance rejection controller.

In the actual implementation procedure of Active Disturbance Rejection Control algorithm, need by adding the judgement of " non-tracking " state variable ADRC_SA, distinguish the different account forms dropped into before and after this algorithm, thus ensure in the smooth change switching controlled quentity controlled variable before and after control model, prevent topworks from occurring unnecessary fluctuating widely, additional impact and disturbance are caused to controlled process, this part be designed to the key realizing ADRC no-harass switch.Therefore for realizing the Active Disturbance Rejection Control with no-harass switch function, the overall performing step of numeric type Active Disturbance Rejection Control algorithm is as follows:

1) by the working control amount assignment of a upper moment controlled process to variable u _ini;

2) for realizing the no-harass switch of automatic disturbance rejection controller, need to distinguish controller logical calculated mode different under " tracking " and " non-tracking " state.When automatic disturbance rejection controller is used for overall system control, time such as thermal power plant's DCS system, because after increasing a kind of switching of control model, the tracking mode variable of controller, jointly should be determined by " hand automated manner " and " Active Disturbance Rejection Control mode ", instead of just be determined separately by " hand automated manner ".For the system that existing acquiescence control mode controls for PID, the logical calculated of automatic disturbance rejection controller and the tracking of former PID controller and auto state variable is as shown in Fig. 2 center 1.Wherein, dotted line is analog quantity transmission, and dotted line is amount of logic (1/0) transmission; SA represents that the automated manner of current controlled process is selected, and namely during SA=1, represents that current controlled process is automated manner, during SA=0, represents that current controlled process is manual mode; Active Disturbance Rejection Control way selection ADRC_OPT represents Active Disturbance Rejection Control way selection, namely during ADRC_OPT=1, represents that ADRC control mode is selected; Then in the system that only there are PID and active disturbance rejection two kinds of control modes, as ADRC_OPT=0, represent that pid control mode is selected.Therefore, " automatically " state variable SA of controlled process and " Active Disturbance Rejection Control mode " state variable ADRC_OPT are carried out asking and logic, obtains " non-tracking " state ADRC_SA of automatic disturbance rejection controller; Need the no-harass switch realizing PID controller simultaneously, then the inverse of " Active Disturbance Rejection Control mode " state variable ADRC_OPT carries out asking and logic with " automatically " state variable SA of controlled process, obtain " non-tracking " state variable PID_SA of PID controller, connect " non-tracking " status port of former PID controller, represent that PID controller is put into, enter " non-tracking " state.SP representative system current set value, PV represents process variable (controlled variable).

3) according to value and the controller exponent number ADRC_ord of variables A DRC_SA, upgrade the variable of state observer in automatic disturbance rejection controller, concrete account form is as follows:

If i) ADRC_SA=0, then the exponent number judging automatic disturbance rejection controller, as automatic disturbance rejection controller exponent number ADRC_ord=1, calculate the variable z upgrading extended state observer in automatic disturbance rejection controller according to following formula ₁and z ₂:

$\left\{\begin{array}{c}{z}_1\left(k\right)=y\left(k\right)\\ z_2\left(k\right)=-b_0{u}_{\mathrm{ini}}\end{array}\right.---\left(8\right)$

Wherein, k represents current calculating step sequence, b ₀for control law coefficient, need engineering staff to carry out adjusting and adjusting according to controlled process dynamic perfromance, y is controlled process variate, and this variate-value upgrades according to the output of process PV, i.e. y (k)=PV (k); Work as ADRC_ord=2, calculate the variable z upgrading extended state observer in automatic disturbance rejection controller according to following formula ₁, z ₂and z ₃:

$\left\{\begin{array}{c}{z}_1\left(k\right)=y\left(k\right)\\ z_2\left(k\right)=0\\ z_3\left(k\right)=-b_0{u}_{\mathrm{ini}}\end{array}\right.---\left(9\right)$

Ii) if ADRC_SA=1, then judge the exponent number of automatic disturbance rejection controller, work as ADRC_ord=1, the variable upgrading extended state observer in automatic disturbance rejection controller according to following formula exports:

$\left\{\begin{array}{c}{z}_1\left(k\right)=z_1(k-1)+h\{z_2(k-1)+{\mathrm{\β}}_1[y(k-1)-z_1(k-1)]+b_{0}u(k-1)\}\\ z_2\left(k\right)=z_2(k-1)+h\left\{{\mathrm{\β}}_2\right[y(k-1)-z_1(k-1)\left]\right\}\end{array}\right.---\left(10\right)$

Wherein, u is that the control variable of automatic disturbance rejection controller exports, β ₁, β ₂for observer coefficient, engineering staff is needed to carry out adjusting and adjusting according to controlled process dynamic perfromance; H is material calculation; This Time Controller exponent number is 1, then z ₁the current controlled process of value trace export, z ₂value be the observed reading of the suffered total disturbance of system; Work as ADRC_ord=2, the variable upgrading extended state observer in automatic disturbance rejection controller according to following formula exports:

$\left\{\begin{array}{c}{z}_1\left(k\right)=z_1(k-1)+h\{z_2(k-1)+{\mathrm{\β}}_1[y(k-1)-z_1(k-1)\left]\right\}\\ z_2\left(k\right)=z_2(k-1)+h\{z_3(k-1)+{\mathrm{\β}}_2[y(k-1)-z_1(k-1)]+b_{0}u(k-1)\}\\ z_3\left(k\right)=z_3(k-1)+h\left\{{\mathrm{\β}}_3\right[y(k-1)-z_1(k-1)\left]\right\}\end{array}\right.---\left(11\right)$

Wherein, β ₃for observer coefficient, engineering staff is needed to carry out adjusting and adjusting according to controlled process dynamic perfromance; This Time Controller exponent number is 2, then z ₁the current controlled process of value trace export, z ₂the differential that exports of the current controlled process of value trace, z ₃value be the observed reading of the suffered total disturbance of system;

4) output of automatic disturbance rejection controller is calculated according to controller exponent number:

I) as ADRC_ord=1, the controlled quentity controlled variable upgrading automatic disturbance rejection controller according to following formula exports:

$u\left(k\right)=\frac{k_p[r\left(k\right)-z_1\left(k\right)]-z_2\left(k\right)}{b_0}---\left(12\right)$

Wherein, k _pfor controller coefficient, need engineering staff to carry out adjusting and adjusting according to controlled process dynamic perfromance, r is setting value input, is connected with controlled process current set value SP, that is: r (k)=SP (k); If SA=0, then SP follows the tracks of y all the time, that is: SP (k)=y (k), if SA=1, then SP per moment is all updated to the setting value of operator's current setting;

Ii) as ADRC_ord=2, the controlled quentity controlled variable upgrading automatic disturbance rejection controller according to following formula exports:

$u\left(k\right)=\frac{k_p[r\left(k\right)-z_1\left(k\right)]-k_d{z}_2\left(k\right)-z_3\left(k\right)}{b_0}---\left(13\right)$

Wherein, k _dfor controller coefficient, engineering staff is needed to carry out adjusting and adjusting according to controlled process dynamic perfromance;

5) according to the value of SA and the value of ADRC_OPT, the manual operator output quantity be connected with the topworks of actual controlled process is upgraded:

If i) SA=0, then manual operator exports as operator's setting value;

Ii) if SA=1 and ADRC_OPT=1, then manual operator exports and exports u (k) for automatic disturbance rejection controller calculates, if SA=1 and ADRC_OPT=0, then manual operator exports the output for PID controller, and manual operator output finally sends into topworks.The logical calculated mode of this step is as shown in Fig. 2 center 2, wherein rhombus T module represents selection function, when the state variable that the dotted line connected when the module upper left corner connects is 1, this module exports the variate-value for top solid line connects, when the state variable that the dotted line connected when the module upper left corner connects is 0, this module exports the variate-value for right side solid line connects.

Position type Auto-disturbance-rejection Control overall calculation process flow diagram as described in above-mentioned steps as shown in Figure 1.Method involved by the present invention, adopts the computer program linear single order of Digital Implementation position type and second-order active disturbance rejection controller, and test result illustrates the active disturbance rejection closed-loop control and no-harass switch function that can realize expecting.Fig. 3-Figure 6 shows that for the closed loop Active Disturbance Rejection Control of three rank transport function format objects, the test result of carrying out Active Disturbance Rejection Control and switching with other modes, simulation process is: emulation start time is manual mode, controlled quentity controlled variable perseverance is set to 1, and after open loop operation is stable, 40s is by manually dropping into automatically, drop into Active Disturbance Rejection Control, setting value is still stationary value 5, and investigate controlled quentity controlled variable and whether saltus step can occur, whether system has disturbance; 60s setting value increases to 6,100s by 5 steps and switches to PID to control, and switches back Active Disturbance Rejection Control during 140s.Fig. 3 is Active Disturbance Rejection Control exponent number when being 1, the output of process value curve in control mode switching test, Fig. 4 is Active Disturbance Rejection Control exponent number when being 1, controlled quentity controlled variable curve in control mode switching test, Fig. 5 is Active Disturbance Rejection Control exponent number when being 2, the output of process value curve in control mode switching test.Fig. 6 is Active Disturbance Rejection Control exponent number when being 2, controlled quentity controlled variable curve in control mode switching test.From simulation result, designed position type numeral Active Disturbance Rejection Control can realize basic closed loop Active Disturbance Rejection Control function, and the no-harass switch that can carry out between various control pattern, put into operation the moment at automatic disturbance rejection controller, system can not impact outside amount and fluctuation.The no-harass switch method of position type automatic disturbance rejection controller therefore designed according to this invention, effectively can solve control mode switch problem when linear single order and second-order active disturbance rejection controller drop into application in real process platform.

Claims (1)

1. there is a position type Auto-disturbance-rejection Control for no-harass switch function, it is characterized in that the method comprises the steps:

1) by the working control amount assignment of a upper moment controlled process to variable u _ini;

2) the auto state variable SA of controlled process and Active Disturbance Rejection Control mode state variable ADRC_OPT is carried out asking and logic, obtain the non-tracking state variable ADRC_SA of automatic disturbance rejection controller; The inverse of ADRC_OPT is carried out asking and logic with SA, obtains the non-tracking state variable PID_SA of PID controller, connect the non-tracking status port of former PID controller;

3) value of ADRC_SA is judged:

If i) ADRC_SA=0, then the exponent number judging automatic disturbance rejection controller, as automatic disturbance rejection controller exponent number ADRC_ord=1, calculate the variable z upgrading extended state observer in automatic disturbance rejection controller according to formula (1) ₁and z ₂:

$\left\{\begin{array}{c}{z}_1\left(k\right)=y\left(k\right)\\ z_2\left(k\right)=-b_0{u}_{ini}\end{array}\right.---\left(1\right)$

Wherein, k represents current calculating step sequence, b ₀for control law coefficient, y is controlled process variable, and this variable y upgrades according to the output of process variable PV, i.e. y (k)=PV (k); Work as ADRC_ord=2, calculate the variable z upgrading extended state observer in automatic disturbance rejection controller according to formula (2) ₁, z ₂and z ₃:

$\left\{\begin{array}{c}{z}_1\left(k\right)=y\left(k\right)\\ z_2\left(k\right)=0\\ z_3\left(k\right)=-b_0{u}_{ini}\end{array}\right.---\left(2\right)$

Ii) if ADRC_SA=1, then judge the exponent number of automatic disturbance rejection controller, work as ADRC_ord=1, upgrade the variable z of extended state observer in automatic disturbance rejection controller according to formula (3) ₁and z ₂:

$\left\{\begin{array}{c}{z}_1\left(k\right)=z_1(k-1)+h\{z_2(k-1)+{\mathrm{\β}}_1\[y(k-1)-z_1(k-1)\]+b_{0}u(k-1)\}\\ z_2\left(k\right)=z_2(k-1)+h\{{\mathrm{\β}}_2\[y(k-1)-z_1(k-1)\]\}\end{array}\right.---\left(3\right)$

Wherein, u is that the controlled quentity controlled variable of automatic disturbance rejection controller exports, β ₁, β ₂for observer coefficient, h is material calculation; Work as ADRC_ord=2, upgrade the variable z of extended state observer in automatic disturbance rejection controller according to formula (4) ₁, z ₂and z ₃:

$\left\{\begin{array}{c}{z}_1\left(k\right)=z_1(k-1)+h\{z_2(k-1)+{\mathrm{\β}}_1\[y(k-1)-z_1(k-1)\]\}\\ z_2\left(k\right)=z_2(k-1)+h\{z_3(k-1)+{\mathrm{\β}}_2\[y(k-1)-z_1(k-1)\]+b_{0}u(k-1)\}\\ z_3\left(k\right)=z_3(k-1)+h\{{\mathrm{\β}}_3\[y(k-1)-z_1(k-1)\]\}\end{array}\right.---\left(4\right)$

Wherein, β ₃for observer coefficient;

4) the controlled quentity controlled variable output of automatic disturbance rejection controller is calculated according to automatic disturbance rejection controller exponent number:

I) as ADRC_ord=1, the controlled quentity controlled variable upgrading automatic disturbance rejection controller according to formula (5) exports:

$u\left(k\right)=\frac{k_p\[r\left(k\right)-z_1\left(k\right)\]-z_2\left(k\right)}{b_0}---\left(5\right)$

Wherein, k _pfor control law coefficient, r is setting value input, is connected, that is: with controlled process current set value SP

R (k)=SP (k); If SA=0, then SP follows the tracks of y all the time, i.e. SP (k)=y (k), if SA=1, then SP per moment is all updated to the setting value of operator's current setting;

Ii) as ADRC_ord=2, the controlled quentity controlled variable upgrading automatic disturbance rejection controller according to formula (6) exports:

$u\left(k\right)=\frac{k_p\[r\left(k\right)-z_1\left(k\right)\]-k_d{z}_2\left(k\right)-z_3\left(k\right)}{b_0}---\left(6\right)$

Wherein, k _dfor control law coefficient;

5) according to the value of SA and the value of ADRC_OPT, the manual operator output quantity be connected with the topworks in actual controlled process is upgraded:

If i) SA=0, then manual operator exports as operator's setting value;

Ii) if SA=1 and ADRC_OPT=1, then manual operator exports and exports u (k) for automatic disturbance rejection controller calculates, if SA=1 and ADRC_OPT=0, then manual operator exports is the output of PID controller; Manual operator exports and finally sends into topworks.