{"id":751,"date":"2021-03-25T16:05:34","date_gmt":"2021-03-25T16:05:34","guid":{"rendered":"https:\/\/imperix.com\/doc\/?p=751"},"modified":"2026-08-12T07:45:32","modified_gmt":"2026-08-12T07:45:32","slug":"multi-rate-control-on-plecs-acg-sdk","status":"publish","type":"post","link":"https:\/\/imperix.com\/doc\/help\/multi-rate-control-on-plecs-acg-sdk","title":{"rendered":"Multi-rate control on PLECS with ACG SDK"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_85 ez-toc-wrap-right-text counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/imperix.com\/doc\/help\/multi-rate-control-on-plecs-acg-sdk\/#Single-tasking-and-multitasking-configurations\" >Single-tasking and multitasking configurations<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/imperix.com\/doc\/help\/multi-rate-control-on-plecs-acg-sdk\/#Base-rate-and-sub-rates-configuration\" >Base rate and sub-rates configuration<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/imperix.com\/doc\/help\/multi-rate-control-on-plecs-acg-sdk\/#Application-example\" >Application example<\/a><\/li><\/ul><\/nav><\/div>\n\n<p class=\"wp-block-paragraph\">This document provides instructions for configuring CPU-based multi-rate control for <a href=\"\/products\/power-electronic-controllers\/\">imperix controllers<\/a> using PLECS with the <a href=\"\/software\/acg-sdk\/\">ACG SDK<\/a>. It allows executing part of the control algorithm at a slower rate, without violating real-time constraints. This is typically useful for running supervisory logic, slow outer control loops, energy management, or MPPT algorithms.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">This page provides PLECS-specific configuration instructions. <a href=\"\/doc\/help\/multi-rate-control\">PN265<\/a> provides a more general introduction to multi-rate control.<\/p>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">The information presented on this page applies starting with ACG SDK and CPP SDK 2026.2. Before this version, multitasking was incompletely supported.<\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Single-tasking-and-multitasking-configurations\"><\/span>Single-tasking and multitasking configurations<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Imperix users can choose between single-tasking and multitasking approaches to execute their multi-rate control algorithms. Single-tasking runs all execution rates sequentially within a single, monolithic control task, whereas multitasking utilizes priority-based task scheduling with preemption, as detailed in <a href=\"https:\/\/imperix.com\/doc\/help\/multi-rate-control#approaches\">PN265<\/a>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">By default, PLECS is configured in single-tasking mode. To enable multitasking, set the <em>Tasking mode<\/em> to <em>multi-tasking<\/em> in the <em>Scheduling <\/em>tab of the <em>Coder Options<\/em> dialog.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Base-rate-and-sub-rates-configuration\"><\/span>Base rate and sub-rates configuration<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">In PLECS, the base rate, which corresponds to the controller&#8217;s CPU interrupt rate, is defined in the Config block via the CLK0 frequency and the optional postscaler parameters, as explained in <a href=\"https:\/\/imperix.com\/doc\/help\/simulation-essentials-plecs\">PN137<\/a>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Configure sub-rate tasks in the <em>Scheduling <\/em>tab of the <em>Coder Options<\/em>, as shown below. Because sub-rate tasks must have a sample time that is an integer multiple of the base rate, it is recommended to define their sample time explicitly (as shown in the example below) to prevent configuration errors.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"645\" height=\"374\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-379.png\" alt=\"\" class=\"wp-image-48621\" style=\"width:499px;height:auto\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-379.png 645w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-379-300x174.png 300w\" sizes=\"auto, (max-width: 645px) 100vw, 645px\" \/><figcaption class=\"wp-element-caption\">Multi-rate scheduling configuration dialog<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">Now that the sub-rate task is defined in the <em>Coder Options<\/em>, assign it in the model using a <em>Task Frame<\/em>, as shown below. All components enclosed within the frame execute inside the selected task. The illustrative example below shows a Task Frame surrounding a subsystem that assigns its execution to <em>Task 1<\/em>, which was configured earlier to run 5 times slower than the base rate.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"488\" height=\"336\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-380.png\" alt=\"\" class=\"wp-image-48622\" style=\"width:428px;height:auto\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-380.png 488w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-380-300x207.png 300w\" sizes=\"auto, (max-width: 488px) 100vw, 488px\" \/><figcaption class=\"wp-element-caption\">Illustrative example of multi-rate model<\/figcaption><\/figure>\n<\/div>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Application-example\"><\/span>Application example<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">An example of use is presented in&nbsp;<a href=\"https:\/\/imperix.com\/doc\/implementation\/maximum-power-point-tracking-mppt-techniques\">Maximum Power Point Tracking (MPPT) (TN117)<\/a>. It shows how one part of the control (in the MPPT task below) can be executed at a slower rate than the main control code.<\/p>\n\n\n<div class=\"wp-block-image is-resized\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"917\" height=\"301\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-126.png\" alt=\"Multi-rate MPPT example on PLECS\" class=\"wp-image-757\" style=\"aspect-ratio:3.04669731429954;width:711px;height:auto\" title=\"Product notes &gt; PN155: Multi-rate control with PLECS &gt; PLECS_Multirate2.PNG\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-126.png 917w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-126-300x98.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/03\/image-126-768x252.png 768w\" sizes=\"auto, (max-width: 917px) 100vw, 917px\" \/><figcaption class=\"wp-element-caption\">Multi-rate MPPT example on PLECS<\/figcaption><\/figure>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>This document provides instructions for configuring CPU-based multi-rate control for imperix controllers using PLECS with the ACG SDK. It allows executing part of the control&#8230;<\/p>\n","protected":false},"author":7,"featured_media":3022,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_kad_post_transparent":"","_kad_post_title":"","_kad_post_layout":"","_kad_post_sidebar_id":"","_kad_post_content_style":"","_kad_post_vertical_padding":"","_kad_post_feature":"","_kad_post_feature_position":"","_kad_post_header":false,"_kad_post_footer":false,"_kad_post_classname":"","footnotes":""},"categories":[13,3],"tags":[],"software-environments":[104],"provided-results":[],"related-products":[50,31,32,92,166,110],"guidedreadings":[],"tutorials":[],"user-manuals":[135],"coauthors":[71],"class_list":["post-751","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-going-further-acg-sdk","category-help","software-environments-plecs","related-products-acg-sdk","related-products-b-board-pro","related-products-b-box-rcp","related-products-b-box-micro","related-products-b-box-rcp-3-0","related-products-tpi","user-manuals-going-further-with-acg-sdk"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.1 - 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