Modular PID Control ÷òî âíóòðè? ×àñòü 4.
Äàòà: 2009-04-02
Äîáàâëåíî: komatic
Òåìà: ModPID
Ñîäåðæàíèå
1.PID ÏÈÄ ðåãóëÿòîð.
2.LMNGEN_C ÏÈÄ-ðåãóëÿòîð íåïðåðûâíîãî äåéñòâèÿ (àíàëîãîâûé).
3.LMNGEN_S Áëîê èñïîëüçóåòñÿ â ñòðóêòóðàõ ÏÈÄ-ðåãóëÿòîðîâ ïîøàãîâîãîóïðàâëåíèÿ.
×òîáû íå ïîâòîðÿòü ïîäðîáíîå îïèñàíèå ýòèõ ôóíêöèé â ðàçäåëå download âû ìîæåòå çàãóðçèòü îôèöèàëüíóþ äîêóìåíòàöèþ íà ðóññêîì è àíãëèéñêîì ÿçûêå, ïåðåéòè.
ÏÈÄ ðåãóëÿòîð.
FUNCTION_BLOCK FB119
TITLE =" output PID-algorithm"
AUTHOR : AUT_1
FAMILY : MODCONT
NAME : PID
VERSION : " 1.2"
// reverse by komatic
(*
Áëîê PID ñîäåðæèò ÏÈÄ-àëãîðèòìû è èñïîëüçóåòñÿ äëÿ ñîçäàíèÿ
ðåãóëÿòîðîâ ñëåäóþùèõ òèïîâ:
• ÏÈÄ-ðåãóëÿòîð íåïðåðûâíîãî óïðàâëåíèÿ:
Áëîêè: PID + LMNGEN_C
• Èìïóëüñíûé ÏÈÄ-ðåãóëÿòîð äëÿ ïðîïîðöèîíàëüíûõ ïðèâîäîâ:
Áëîêè: PID + LMNGEN_C + PULSEGEN
• ÏÈÄ-ðåãóëÿòîð ïîøàãîâîãî óïðàâëåíèÿ äëÿ ïðîïîðöèîíàëüíûõ
ïðèâîäîâ:
Áëîêè: PID + LMNGEN_S
Áëîê îñóùåñòâëÿåò PID àëãîðèòì îáðàáîòêè âõîäíîãî ñèãíàëà.
Áëîê êîíñòðóêòèâíî è ôóíêöèîíàëüíî ïðåäñòàâëÿåò ñîáîé
ïàðàëëåëüíóþ ñòðóêòóðó è ôóíêöèîíèðóåò èñêëþ÷èòåëüíî êàê
àëãîðèòì ïîçèöèîíèðîâàíèÿ. Êîìïîíåíòû Ï-, È- è Ä-,
ïðåäíàçíà÷åííûå äëÿ îáðàáîòêè âõîäíîãî ñèãíàëà, ìîãóò áûòü
àêòèâèçèðîâàíû èëè âûêëþ÷åíû â èíäèâèäóàëüíîì ïîðÿäêå. Ýòî
ïîçâîëÿåò êîíôèãóðèðîâàòü Ï-, ÏÈ-, ÏÄ- è ÏÈÄ- ðåãóëÿòîðû íà
îñíîâå ïðîãðàììíîãî ïðîäóêòà Modular Control (Ìîäóëüíîå
óïðàâëåíèå).
Êîìïîíåíòû Ï- è Ä- ìîãóò áûòü òàêæå ââåäåíû â öåïü îáðàòíîé
ñâÿçè. Ïîìåùàÿ êîìïîíåíòû Ï- è Ä- â öåïè îáðàòíîé ñâÿçè
ðåãóëÿòîðà, ìîæíî ïðåäîòâðàòèòü ñêà÷êîîáðàçíûå èçìåíåíèÿ
ñèãíàëà. Ïðè ýòîì îáû÷íî íåò íåîáõîäèìîñòè èñïîëüçîâàòü
èíòåãðàòîð â öåïè óñòàâêè (setpoint), ÷òîáû èçáåæàòü ñòóïåí÷àòûõ
èçìåíåíèé óðîâíÿ ñèãíàëà.
 òî âðåìÿ êàê áëîê PID âûçûâàåòñÿ â ïðèîðèòåòíîì êëàññå
öèêëè÷åñêèõ ïðåðûâàíèé, ïåðèîä êîòîðîãî ïðèâÿçàí ê
äîìèíèðóþùåé ïîñòîÿííîé âðåìåíè ñèñòåìû, áëîêè îáðàáîòêè
ñèãíàëîâ äëÿ ïðèâîäà (LMNGEN_C è LMNGEN_S) ìîãóò
âûçûâàòüñÿ â ïðèîðèòåòíîì êëàññå öèêëè÷åñêèõ ïðåðûâàíèé ñ
ìåíüøèì ïåðèîäîì.
*)
VAR_INPUT
ER : REAL ; //ñèãíàë îøèáêè
PV : REAL ; //âõîäíàÿ ïåðåìåííàÿ
GAIN : REAL := 1.000000e+000; //êôò ïðîïîðöèîíàëüíîñòè
TI : TIME := T#20S; //âðèìÿ èíòåãðèðîâàíèÿ
I_ITLVAL : REAL ; //çíà÷åíèå èíèöèàëèçàöèè äëÿ èíòåãðàëüíîé ñîñòàâëÿþùåé
TD : TIME := T#10S; //âðåìÿ äèôåðåíöèðîâàíèÿ
TM_LAG : TIME := T#2S; //âðåìÿ çàäåðæêè äèôåðåíöèàëüíîé ñîñòàâëÿþùåé
DISV : REAL ; //ñèãíàë ðàññîãëàñîâàíèÿ
P_SEL : BOOL := TRUE; //âûáîð ïðîïîðöèîíàëüíîé ñîñòàâëÿþùåé
PFDB_SEL : BOOL ; //proportional action in feedback path selected
DFDB_SEL : BOOL ; //derivative action in feedback path on
I_SEL : BOOL := TRUE; //âûáîð èíòåãðàëüíîé ñîñòàâëÿþùåé
INT_HOLD : BOOL ; //óäåðæèâàíèå èíòåãðàëüíîé ñîñòàâëÿþùåé
I_ITL_ON : BOOL ; //èíèöèàëèçèðîâàòü èíòåãðàëüíóþ ñîñòàâëÿþùóþ
D_SEL : BOOL ; //âûáîð äèôåðåíöèàëüíîé ñîñòàâëÿþùåé
DISV_SEL : BOOL := TRUE; //âûáîð ïåðåìåííîé ðàññîãëàñîâàíèÿ
COM_RST : BOOL ; //ïîëíûé ðåñòàðò
CYCLE : TIME := T#1S; //âðåìÿ âûïîëíåíèÿ
LMNG_PID : STRUCT
LMN : REAL ; //âûõîäíîå çíà÷åíèå
LMN_HLM : REAL ; //âåðõíÿÿ ãðàíèöà äëÿ âûõîäà
LMN_LLM : REAL ; //íèæíÿÿ ãðàíèöà äëÿ âûõîäà
R_MTR_TM : REAL ; //motor manipulated value
ARWHL_ON : BOOL ; //anti reset wind-up in high limit on
ARWLL_ON : BOOL ; //anti reset wind-up in low limit on
MAN_ON : BOOL ; //manual mode on
LMNGS_ON : BOOL ; //PID-algorithm for step controller on
LMNR_ON : BOOL ; //repeated manipulated value on
END_STRUCT ;
END_VAR
VAR_OUTPUT
LMN_P : REAL ; //ïðîïîðöèîíàëüíàÿ ñîñòàâëÿþùàÿ
LMN_I : REAL ; //èíòåãðàëüíàÿ ñîñòàâëÿþùàÿ
LMN_D : REAL ; //äèôåðåíöèàëüíàÿ ñîñòàâëÿþùàÿ
PID_LMNG : STRUCT
PID_OUTV : REAL ; //PID output variable
PID_SCTR : REAL ; //PID output variable for step controller
END_STRUCT ;
END_VAR
VAR
sInvAlt : REAL ;
sIanteilAlt : REAL ;
sRestInt : REAL ;
sRestDif : REAL ;
sRueck : REAL ;
sbILimOn : BOOL := TRUE;
END_VAR
VAR_TEMP
Hvar : REAL ; //Hilfsvariable
ErKp : REAL ; //Variable ER*GAIN
rTi : REAL ; //Integrationszeit in real
rTd : REAL ; //Differentiationszeit in real
rTmLag : REAL ; //Verzögerungszeit in real
rCycle : REAL ; //Abtastzeit in real
Panteil : REAL ; //P-Anteil
Ianteil : REAL ; //I-Anteil
Diff : REAL ; //Änderungswert
Danteil : REAL ; //D-Anteil
Verstaerk : REAL ; //Verstärkung
RueckDiff : REAL ; //Differenz des Rückkopplungswertes
RueckAlt : REAL ; //Alter Rückkopplungswert
dDisv : REAL ; //disturbance variable
dLmn : REAL ; //Stellwert
PidOutv : REAL ; //PID-Ausgangswert
PidSctr : REAL ; //PID-Ausgangswert für Schrittregler
rLmnHlm : REAL ; //Obere Begrenzung
rLmnLlm : REAL ; //Untere Begrenzung
rMtrTm : REAL ; //Motorstellzeit
bArwhlOn : BOOL ; //anti reset wind-up in high limit on
bArwllOn : BOOL ; //anti reset wind-up in low LIMIT on
bManOn : BOOL ; //manual mode on
bLmngsOn : BOOL ; //PID-algorithm for step controller
bLmnrOn : BOOL ; //step controller with repeated manipulated value
END_VAR
BEGIN
IF COM_RST
THEN
ErKp:=0.0;
Panteil:=0.0;
Ianteil:=0.0;
sRestInt:=0.0;
Danteil:=0.0;
sRueck:=0.0;
sRestDif:=0.0;
sInvAlt:=0.0;
sIanteilAlt:=0.0;
sRestInt:=0.0;
sRestDif:=0.0;
PidOutv:=0.0;
PidSctr:=0.0;
ELSE
bManOn:=LMNG_PID.MAN_ON;
bLmngsOn:=LMNG_PID.LMNGS_ON;
bLmnrOn:=LMNG_PID.LMNR_ON;
dLmn:=LMNG_PID.LMN;
rLmnHlm:=LMNG_PID.LMN_HLM;
rLmnLlm:=LMNG_PID.LMN_LLM;
rMtrTm:=LMNG_PID.R_MTR_TM;
bArwhlOn:=LMNG_PID.ARWHL_ON;
bArwllOn:=LMNG_PID.ARWLL_ON;
ErKp:=ER*GAIN;
rTi:=DINT_TO_REAL(TIME_TO_DINT(TI))/1000.0;
rTd:=DINT_TO_REAL(TIME_TO_DINT(TD))/1000.0;
rTmLag:=DINT_TO_REAL(TIME_TO_DINT(TM_LAG))/1000.0;
rCycle:=DINT_TO_REAL(TIME_TO_DINT(CYCLE))/1000.0;
IF rTi < (rCycle * 0.5)
THEN
rTi:=rCycle * 0.5;
END_IF;
IF rTd < rCycle
THEN
rTd:=rCycle;
END_IF;
IF rTmLag < (rCycle * 0.5)
THEN
rTmLag:=rCycle * 0.5;
END_IF;
IF DISV_SEL
THEN
dDisv:=DISV;
ELSE
dDisv:=0.0;
END_IF;
IF P_SEL
THEN
IF PFDB_SEL
THEN
Panteil:=(-PV)*GAIN;
ELSE
Panteil:=ErKp;
END_IF;
ELSE
Panteil:=0.0;
END_IF;
//====================================================
IF bLmngsOn
THEN
Hvar:=rTi-ABS(0.01*ErKp*rMtrTm);
IF Hvar < (0.1*rTi)
THEN
rTi:=0.1*rTi;
ELSE
rTi:=Hvar;
END_IF;
END_IF;
//=====================================================
IF ((NOT bLmngsOn) AND I_SEL) OR (I_SEL AND bLmngsOn AND bLmnrOn)
THEN
IF I_ITL_ON
THEN
Ianteil:=I_ITLVAL;
sRestInt:=0.0;
ELSE
IF bManOn
THEN
IF bLmngsOn
THEN
Ianteil:=dLmn;
ELSE
Ianteil:=dLmn-Panteil-dDisv;
END_IF;
sRestInt:=0.0;
ELSE
Diff:=rCycle/rTi*(ErKp+sInvAlt)*0.5+sRestInt;
IF (Diff > 0.0 AND bArwhlOn OR INT_HOLD) OR (Diff < 0.0 AND bArwllOn)
THEN
Diff:=0.0;
END_IF;
Ianteil:=sIanteilAlt+Diff;
sRestInt:=sIanteilAlt-Ianteil+Diff;
END_IF;
END_IF;
ELSE
Ianteil:=0.0;
sRestInt:=0.0;
END_IF;
IF (NOT bLmnrOn) AND bLmngsOn
THEN
PidSctr:=ErKp/rTi;
ELSE
PidSctr:=Ianteil;
END_IF;
IF DFDB_SEL
THEN
Diff:=(-PV)*GAIN;
ELSE
Diff:=ErKp;
END_IF;
IF (NOT LMNG_PID.MAN_ON) AND D_SEL
THEN
Verstaerk:=rTd/(rCycle*0.5+rTmLag);
Danteil:=(Diff-sRueck)*Verstaerk;
RueckAlt:=sRueck;
RueckDiff:=rCycle/rTd*Danteil+sRestDif;
sRueck:=RueckDiff+RueckAlt;
sRestDif:=RueckAlt-sRueck+RueckDiff;
ELSE
Danteil:=0.0;
sRestDif:=0.0;
sRueck:=Diff;
END_IF;
PidOutv:=Panteil+Ianteil+Danteil+dDisv;
END_IF;
LMN_P:=Panteil;
LMN_I:=Ianteil;
LMN_D:=Danteil;
sInvAlt:=ErKp;
sIanteilAlt:=Ianteil;
PID_LMNG.PID_OUTV:=PidOutv;
PID_LMNG.PID_SCTR:=PidSctr;
END_FUNCTION_BLOCK
ÏÈÄ-ðåãóëÿòîð íåïðåðûâíîãî äåéñòâèÿ (àíàëîãîâûé).
FUNCTION_BLOCK FB113
TITLE =" output continuous PID controller"
AUTHOR : AUT_1
FAMILY : MODCONT
NAME : LMNGEN_C
VERSION : " 1.1"
// reverse by dda
(*
Áëîê èñïîëüçóåòñÿ â ñòðóêòóðàõ ÏÈÄ-ðåãóëÿòîðîâ íåïðåðûâíîãî
óïðàâëåíèÿ. Îí ñîäåðæèò ñõåìó ôîðìèðîâàíèÿ óïðàâëÿþùåé
ïåðåìåííîé ðåãóëÿòîðà.
Áëîê ñîäåðæèò ïåðåêëþ÷àòåëü ðåæèìîâ ðàáîòû ("Ðó÷íîé"/
"Àâòîìàòè÷åñêèé").  ðó÷íîì ðåæèìå Âû ìîæåòå îïðåäåëÿòü
àáñîëþòíîå çíà÷åíèå, óìåíüøàòü èëè óâåëè÷èâàòü çíà÷åíèå
óïðàâëÿþùåãî ñèãíàëà ñ ïîìîùüþ êëþ÷åé.
Óïðàâëÿþùèé ñèãíàë, à òàêæå ñêîðîñòü åãî èçìåíåíèÿ ìîãóò áûòü
îãðàíè÷åíû ãðàíè÷íûìè âåëè÷èíàìè, çàäàííûìè ïîëüçîâàòåëåì.
Äàííûé áëîê âñåãäà èñïîëüçóåòñÿ âìåñòå ñ áëîêîì ÏÈÄ-àëãîðèòìà
ðåãóëÿòîðà.
*)
VAR_INPUT
MAN : REAL ; //manual value
LMN_HLM : REAL := 1.000000e+002; //manipulated value high limit
LMN_LLM : REAL ; //manipulated value low limit
LMN_URLM : REAL := 1.000000e+001; //manipulated value up rate limit
LMN_DRLM : REAL := 1.000000e+001; //manipulated down rate limit
DF_OUTV : REAL ; //default output variable
MAN_ON : BOOL := TRUE; //manual value on
MANGN_ON : BOOL ; //manual value generating on
MANUP : BOOL ; //manual value up
MANDN : BOOL ; //manual value down
LMNRC_ON : BOOL ; //manipulated value rate of change on
DFOUT_ON : BOOL ; //default output variable on
COM_RST : BOOL ; //complete restart
CYCLE : TIME := T#1S; //sample time
PID_LMNG : STRUCT
PID_OUTV : REAL ; //PID output variable
PID_SCTR : REAL ; //PID output variable for step controller
END_STRUCT ;
END_VAR
VAR_OUTPUT
LMN : REAL ; //manipulated value
QLMN_HLM : BOOL ; //high limit of manipulated value reached
QLMN_LLM : BOOL ; //low limit of manipulated value reached
LMNG_PID : STRUCT
LMN : REAL ; //manipulated value
LMN_HLM : REAL ; //manipulated value high limit
LMN_LLM : REAL ; //manipulated value low limit
R_MTR_TM : REAL ; //motor manipulated value
ARWHL_ON : BOOL ; //anti reset wind-up in high limit on
ARWLL_ON : BOOL ; //anti reset wind-up in low limit on
MAN_ON : BOOL ; //manual mode on
LMNGS_ON : BOOL ; //PID-algorithm for step controller on
LMNR_ON : BOOL ; //repeated manipulated value on
END_STRUCT ;
END_VAR
VAR
MP1 : REAL ; //MP1: manipulated value
LMN_OP : REAL ; //manipulated value operation
LMNOP_ON : BOOL ; //manipulated value operation on
stUpMan : TIME ;
stDownMan : TIME ;
END_VAR
VAR_TEMP
Hvar : REAL ; //Hilfsvariable
rCycle : REAL ; //Abtastzeit in real
Pid_Outv : REAL ; //PID output variable
dLmn : REAL ; //Stellwert
bArwhlOn : BOOL ; //Anti Reset Wind-up high limit Bit für Struktur PID_LMNG
bArwllOn : BOOL ; //Anti Reset Wind-up low limit Bit für Struktur PID_LMNG
END_VAR
BEGIN
bArwhlOn:=0;
bArwllOn:=0;
rCycle:=DINT_TO_REAL(TIME_TO_DINT(CYCLE))/1000.0;
IF COM_RST OR DFOUT_ON
THEN
dLmn:=DF_OUTV;
MP1:=0.0;
stUpMan:=T#0MS;
stDownMan:=T#0MS;
IF COM_RST
THEN
LMN:=DF_OUTV;
END_IF;
ELSE
Pid_Outv:=PID_LMNG.PID_OUTV;
IF MAN_ON
THEN
IF MANGN_ON
THEN
IF NOT (MANUP OR QLMN_LLM) AND MANDN
THEN
stUpMan:=T#0MS;
stDownMan:=stDownMan+CYCLE;
IF stDownMan > T#3S
THEN
dLmn:=LMN-((LMN_HLM-LMN_LLM)*rCycle/10.0);
ELSE
dLmn:=LMN-((LMN_HLM-LMN_LLM)*rCycle/100.0);
END_IF;
ELSE
IF NOT (MANDN OR QLMN_HLM) AND MANUP
THEN
stDownMan:=T#0MS;
stUpMan:=stUpMan+CYCLE;
IF stUpMan > T#3S
THEN
dLmn:=LMN+((LMN_HLM-LMN_LLM)*rCycle/10.0);
ELSE
dLmn:=LMN+((LMN_HLM-LMN_LLM)*rCycle/100.0);
END_IF;
ELSE
stUpMan:=T#0S;
stDownMan:=T#0S;
dLmn:=LMN;
END_IF;
END_IF;
IF dLmn > LMN_HLM
THEN
dLmn:=LMN_HLM;
ELSE
IF dLmn < LMN_LLM
THEN
dLmn:=LMN_LLM;
END_IF;
END_IF;
ELSE
dLmn:=MAN;
stUpMan:=T#0MS;
stDownMan:=T#0MS;
END_IF;
ELSE
dLmn:=Pid_Outv;
stUpMan:=T#0MS;
stDownMan:=T#0MS;
END_IF;
MP1:= dLmn;
IF LMNOP_ON THEN dLmn:=LMN_OP; END_IF;
END_IF;
//-----------------------------------
IF LMNRC_ON
THEN
IF LMN < 0.0
THEN
IF LMN > dLmn
THEN
Hvar:=LMN - (LMN_URLM*rCycle);
IF dLmn < Hvar
THEN
dLmn:=Hvar;
bArwllOn:=1;
END_IF;
ELSE
IF LMN_DRLM=0.0
THEN
dLmn:=LMN;
bArwhlOn:=1;
ELSE
IF dLmn<=0.0
THEN
Hvar:=LMN_DRLM*rCycle + LMN;
IF dLmn > Hvar
THEN
dLmn:=Hvar;
bArwhlOn:=1;
END_IF;
ELSE
Hvar:=(-LMN)/LMN_DRLM;
IF Hvar <= rCycle
THEN
Hvar:=(rCycle-Hvar)*LMN_URLM;
IF dLmn > Hvar
THEN
dLmn:=Hvar;
bArwhlOn:=1;
END_IF;
ELSE
dLmn:= rCycle*LMN_DRLM+LMN;
bArwhlOn:=1;
END_IF;
END_IF;
END_IF;
END_IF;
ELSE
//-------------------
IF LMN<dLmn
THEN
Hvar:= LMN_URLM*rCycle + LMN;
IF dLmn>Hvar
THEN
dLmn:=Hvar;
bArwhlOn:=1;
END_IF;
ELSE
IF LMN_DRLM=0.0
THEN
dLmn:=LMN;
bArwllOn:=1;
ELSE
IF dLmn>=0.0
THEN
Hvar:=LMN-(LMN_DRLM*rCycle );
IF dLmn<Hvar
THEN
dLmn:=Hvar;
bArwllOn:=1;
END_IF;
ELSE
Hvar:=LMN/LMN_DRLM;
IF Hvar<=rCycle
THEN
Hvar:=(-(rCycle-Hvar))*LMN_URLM;
IF dLmn<Hvar
THEN
dLmn:=Hvar;
bArwllOn:=1;
END_IF;
ELSE
dLmn:=LMN-(rCycle*LMN_DRLM);
bArwllOn:=1;
END_IF;
END_IF;
END_IF;
END_IF;
END_IF;
END_IF;
//-------------------------------
IF dLmn>=LMN_HLM
THEN
QLMN_HLM:=1;
QLMN_LLM:=0;
dLmn:=LMN_HLM;
bArwhlOn:=1;
ELSE
QLMN_HLM:=0;
IF dLmn<=LMN_LLM
THEN
QLMN_LLM:=1;
dLmn:=LMN_LLM;
bArwllOn:=1;
ELSE
QLMN_LLM:=0;
END_IF;
END_IF;
LMN:=dLmn;
LMNG_PID.LMN_HLM:=LMN_HLM;
LMNG_PID.LMN_LLM:=LMN_LLM;
LMNG_PID.LMN:=dLmn;
LMNG_PID.ARWHL_ON:=bArwhlOn;
LMNG_PID.ARWLL_ON:=bArwllOn;
LMNG_PID.MAN_ON:=MAN_ON OR LMNOP_ON;
LMNG_PID.LMNGS_ON:=0;
LMNG_PID.LMNR_ON:=0;
END_FUNCTION_BLOCK
Øàãîâûé ÏÈÄ-ðåãóëÿòîð. Ñîäåðæèò êîìïîíåíòû äëÿ ïîñòðîåíèÿ øàãîâîãî ðåãóëÿòîðà. Îí äîëæåí èñïîëüçîâàòüñÿ ñîâìåñòíî ñ ôóíêöèîíàëüíûì áëîêîì ÏÈÄ àëãîðèòìà.
FUNCTION_BLOCK FB114
TITLE =" output PID step controller"
AUTHOR : AUT_1
FAMILY : MODCONT
NAME : LMNGEN_S
VERSION : " 1.2"
// reverse by dda
(*
Áëîê èñïîëüçóåòñÿ â ñòðóêòóðàõ ÏÈÄ-ðåãóëÿòîðîâ ïîøàãîâîãî
óïðàâëåíèÿ ñ ïðèâîäàìè, èìåþùèìè èíòåãðèðóþùèé êîìïîíåíò
(íàïðèìåð, âåíòèëü, óïðàâëÿåìûé ýëåêòðîäâèãàòåëåì). Áëîê
ñîäåðæèò ñõåìó ôîðìèðîâàíèÿ óïðàâëÿþùåé ïåðåìåííîé
ðåãóëÿòîðà. Ðåãóëÿòîð ïîøàãîâîãî óïðàâëåíèÿ ìîæåò ðàáîòàòü êàê
ñ ñèãíàëîì ïîçèöèîííîé îáðàòíîé ñâÿçè, òàê è áåç íåãî.
*)
VAR_INPUT
MAN : REAL ; //manual value
LMN_HLM : REAL := 1.000000e+002; //manipulated value high limit
LMN_LLM : REAL ; //manipulated value low limit
LMNR_IN : REAL ; //repeated manipulated value
MTR_TM : TIME := T#30S; //motor manipulated value
PULSE_TM : TIME := T#3S; //minimum pulse time
BREAK_TM : TIME := T#3S; //minimum break time
MAN_ON : BOOL ; //manual value on
MANGN_ON : BOOL ; //manual value generating on
MANUP : BOOL ; //manual value up
MANDN : BOOL ; //manual value down
LMNR_ON : BOOL ; //repeated manipulated value on
LMNR_HS : BOOL ; //high limit signal of repeated manipulated value
LMNR_LS : BOOL ; //low limit signal of repeated manipulated value
LMNS_ON : BOOL := TRUE; //manipulated signals on
LMNUP : BOOL ; //manipulated signals up
LMNDN : BOOL ; //manipulated signals down
COM_RST : BOOL ; //complete restart
CYCLE : TIME := T#1S; //sample time
PID_LMNG : STRUCT
PID_OUTV : REAL ; //PID output variable
PID_SCTR : REAL ; //PID output variable for step controller
END_STRUCT ;
END_VAR
VAR_OUTPUT
LMN : REAL ; //manipulated value
QLMNUP : BOOL ; //manipulated signal up
QLMNDN : BOOL ; //manipulated signal down
QLMN_HLM : BOOL ; //high limit of manipulated value reached
QLMN_LLM : BOOL ; //low limit of manipulated value reached
LMNG_PID : STRUCT
LMN : REAL ; //manipulated value
LMN_HLM : REAL ; //manipulated value high limit
LMN_LLM : REAL ; //manipulated value low limit
R_MTR_TM : REAL ; //motor manipulated value
ARWHL_ON : BOOL ; //anti reset wind-up in high limit on
ARWLL_ON : BOOL ; //anti reset wind-up in low limit on
MAN_ON : BOOL ; //manual mode on
LMNGS_ON : BOOL ; //PID-algorithm for step controller on
LMNR_ON : BOOL ; //repeated manipulated value on
END_STRUCT ;
END_VAR
VAR
LMNSOPON : BOOL ; //manipulated signal operation on
LMNUP_OP : BOOL ; //manipulated signal up operation
LMNDN_OP : BOOL ; //manipulated signal down operation
LMNOP_ON : BOOL ; //manipulated value operation on
LMNRS_ON : BOOL ; //simulation of the repeated manipulated value on
MP1 : REAL ; //MP1: manipulated value
LMN_OP : REAL ; //manipulated value operation
LMNRSVAL : REAL ; //repeated manipulated start value in simulation
LMNR_SIM : REAL ; //repeated manipulated value simulated
stUpMan : TIME ;
stDownMan : TIME ;
siImpAus : INT ;
stImpDauer : TIME ;
stPausDauer : TIME ;
sInt : REAL ;
sThrOn : REAL ;
END_VAR
VAR_TEMP
rPidOutv : REAL ; //PID output variable
rPidSctr : REAL ; //PID output variable for step controller
dLmn : REAL ; //Stellwert
LmnHlm : REAL ; //Stellwert obere Begrenzung
LmnLlm : REAL ; //Stellwert untere Begrenzung
Diff : REAL ; //Änderungswert bei der Handwertbedienung
rCycle : REAL ; //Abtastzeit in real
AdapIn1 : REAL ; //Eingang 1 der Adaption der Ansprechschwelle
AdapIn2 : REAL ; //Eingang 2 der Adaption der Ansprechschwelle
ThreeStepIn : REAL ; //Eingang des Dreipunktgliedes
iImpEin : INT ; //Eingang des Impulsformers
rMtrTm : REAL ; //Motorstellzeit in real
rMinThrOn : REAL ; //Hilfsvariable
rThrOff : REAL ; //Abschaltschwelle
IntIn : REAL ; //Eingang des Integrierers in der Rückführung
LmnrSim : REAL ; //simulierte Stellungsrückmeldung
bArwHLmOn : BOOL ; //Anti Reset Wind-up Bit obere Grenze für Struktur PID_LMNG
bArwLLmOn : BOOL ; //Anti Reset Wind-up Bit untere Grenze für Struktur PID_LMNG
END_VAR
BEGIN
bArwHLmOn:=LMNR_HS;
bArwLLmOn:=LMNR_LS;
rMtrTm:=DINT_TO_REAL(TIME_TO_DINT(MTR_TM))/1000.0;
IF COM_RST
THEN
LMN:=0.0;
QLMNUP:=0;
QLMNDN:=0;
QLMN_HLM:=0;
QLMN_LLM:=0;
LMNR_SIM:=LMNRSVAL;
LMNRS_ON:=0;
MP1:=0.0;
stUpMan:=T#0MS;
stDownMan:=T#0MS;
siImpAus:=0;
stImpDauer:=T#0MS;
stPausDauer:=T#0MS;
sInt:=0.0;
sThrOn:=0.0;
ELSE
rPidOutv:=PID_LMNG.PID_OUTV;
rPidSctr:=PID_LMNG.PID_SCTR;
rCycle:=DINT_TO_REAL(TIME_TO_DINT(CYCLE))/1000.0;
IF LMNR_ON
THEN
IF MAN_ON
THEN
IF MANGN_ON
THEN
IF NOT (MANUP OR QLMN_LLM) AND MANDN
THEN
stUpMan:=T#0MS;
stDownMan:=stDownMan+CYCLE;
IF stDownMan > T#3S
THEN
dLmn:=LMN-((LMN_HLM-LMN_LLM)*rCycle/10.0);
ELSE
dLmn:=LMN-((LMN_HLM-LMN_LLM)*rCycle/100.0);
END_IF;
ELSE
IF NOT (MANDN OR QLMN_HLM) AND MANUP
THEN
stDownMan:=T#0MS;
stUpMan:=stUpMan+CYCLE;
IF stUpMan>T#3S
THEN
dLmn:=LMN+((LMN_HLM-LMN_LLM)*rCycle/10.0);
ELSE
dLmn:=LMN+((LMN_HLM-LMN_LLM)*rCycle/100.0);
END_IF;
ELSE
stUpMan:=T#0MS;
stDownMan:=T#0MS;
dLmn:=LMN;
END_IF;
END_IF;
IF dLmn > LMN_HLM
THEN
dLmn:=LMN_HLM;
ELSE
IF dLmn < LMN_LLM
THEN
dLmn:=LMN_LLM;
END_IF;
END_IF;
ELSE
dLmn:=MAN;
stUpMan:=T#0MS;
stDownMan:=T#0MS;
END_IF;
ELSE
dLmn:=rPidOutv;
stUpMan:=T#0MS;
stDownMan:=T#0MS;
END_IF;
MP1:=dLmn;
IF LMNOP_ON THEN dLmn:=LMN_OP; END_IF;
IF dLmn>=LMN_HLM
THEN
QLMN_HLM:=1;
QLMN_LLM:=0;
dLmn:=LMN_HLM;
IF LMNR_IN >= dLmn THEN bArwHLmOn:=1; END_IF;
ELSE
QLMN_HLM:=0;
IF dLmn <= LMN_LLM
THEN
QLMN_LLM:=1;
dLmn:=LMN_LLM;
IF LMNR_IN <= dLmn THEN bArwLLmOn:=1; END_IF;
ELSE
QLMN_LLM:=0;
END_IF;
END_IF;
sInt:=0.0;
ThreeStepIn:=dLmn-LMNR_IN;
AdapIn1:=dLmn-rPidSctr;
AdapIn2:=LMNR_IN-rPidSctr;
ELSE
LmnHlm:=100.0;
LmnLlm:=-100.0;
IF LMNS_ON
THEN
sInt:=0.0;
ELSE
IF siImpAus <> 0
THEN
IntIn:=DINT_TO_REAL(INT_TO_DINT(siImpAus))*rCycle/rMtrTm;
ELSE
IF ((rPidSctr > 0.0) AND bArwHLmOn) OR ((rPidSctr < 0.0) AND bArwLLmOn)
THEN
IntIn:=0.0;
ELSE
IntIn:=(-rPidSctr)*rCycle;
END_IF;
END_IF;
sInt:=sInt+IntIn;
END_IF;
stUpMan:=T#0MS;
stDownMan:=T#0MS;
QLMN_HLM:=0;
QLMN_LLM:=0;
dLmn:=0.0;
MP1:=0.0;
ThreeStepIn:=rPidOutv-sInt;
AdapIn1:=rPidOutv;
AdapIn2:=sInt;
END_IF;
rThrOff:=55.0/rMtrTm*rCycle;
IF PULSE_TM>CYCLE
THEN
rMinThrOn:=DINT_TO_REAL(TIME_TO_DINT(PULSE_TM))/1000.0;
ELSE
rMinThrOn:=rCycle;
END_IF;
rMinThrOn:=100.0*rMinThrOn/rMtrTm;
IF NOT (((MAN_ON OR LMNOP_ON OR QLMN_HLM OR QLMN_LLM) AND LMNR_ON) OR LMNR_HS OR LMNR_LS)
THEN
IF NOT (QLMNUP OR QLMNDN)
THEN
AdapIn1:=ABS(AdapIn1);
AdapIn2:=ABS(AdapIn2);
IF AdapIn1 < AdapIn2
THEN
sThrOn:=AdapIn1;
ELSE
sThrOn:=AdapIn2;
END_IF;
IF sThrOn>10.0 THEN sThrOn:=10.0; END_IF;
IF sThrOn<rMinThrOn THEN sThrOn:=rMinThrOn; END_IF;
END_IF;
ELSE
sThrOn:=rMinThrOn;
END_IF;
IF ((siImpAus=100) AND (ThreeStepIn>rThrOff)) OR (ThreeStepIn>=sThrOn)
THEN
iImpEin:=100;
ELSE
IF ((siImpAus=-100) AND (ThreeStepIn<-rThrOff)) OR (ThreeStepIn<=-sThrOn)
THEN
iImpEin:=-100;
ELSE
iImpEin:=0;
END_IF;
END_IF;
IF LMNS_ON
THEN
IF LMNUP XOR LMNDN
THEN
IF LMNUP
THEN
iImpEin:=100;
ELSE
iImpEin:=-100;
END_IF;
ELSE
iImpEin:=0;
END_IF;
END_IF;
IF LMNSOPON
THEN
IF LMNUP_OP XOR LMNDN_OP
THEN
IF LMNUP_OP
THEN
iImpEin:=100;
ELSE
iImpEin:=-100;
END_IF;
ELSE
iImpEin:=0;
END_IF;
END_IF;
IF ((iImpEin=100) AND LMNR_HS) OR ((iImpEin=-100) AND LMNR_LS)
THEN
iImpEin:=0;
END_IF;
IF ((siImpAus=-100) AND (iImpEin=100)) OR ((siImpAus=100) AND (iImpEin=-100))
THEN
iImpEin:=0;
END_IF;
IF siImpAus<>iImpEin
THEN
IF iImpEin=0
THEN
IF stImpDauer<=T#0MS
THEN
siImpAus:=0;
stPausDauer:=BREAK_TM;
END_IF;
ELSE
IF stPausDauer<=T#0MS
THEN
siImpAus:=iImpEin;
stImpDauer:=PULSE_TM;
END_IF;
END_IF;
END_IF;
IF stImpDauer>T#0MS
THEN
stImpDauer:=stImpDauer-CYCLE;
ELSE
stImpDauer:=T#0MS;
END_IF;
IF stPausDauer>T#0MS
THEN
stPausDauer:=stPausDauer-CYCLE;
ELSE
stPausDauer:=T#0MS;
END_IF;
IF ((siImpAus=100) AND LMNR_HS) OR ((siImpAus=-100) AND LMNR_LS)
THEN
siImpAus:=0;
stImpDauer:=T#0MS;
END_IF;
IF (NOT LMNRS_ON) OR LMNR_ON
THEN
LmnrSim:=LMNRSVAL;
ELSE
LmnrSim:=INT_TO_REAL(siImpAus)*rCycle/rMtrTm+LMNR_SIM;
IF LmnrSim>=100.0
THEN
LmnrSim:=100.0;
ELSE
IF LmnrSim<=0.0
THEN
LmnrSim:=0.0;
END_IF;
END_IF;
END_IF;
LMN:=dLmn;
LMNR_SIM:=LmnrSim;
IF siImpAus=0
THEN
QLMNUP:=0;
QLMNDN:=0;
ELSE
IF siImpAus=100
THEN
QLMNUP:=1;
QLMNDN:=0;
bArwHLmOn:=1;
ELSE
QLMNUP:=0;
QLMNDN:=1;
bArwLLmOn:=1;
END_IF;
END_IF;
END_IF;
LMNG_PID.LMN:= LMN;
LMNG_PID.LMN_HLM:=LMN_HLM;
LMNG_PID.LMN_LLM:=LMN_LLM;
LMNG_PID.ARWHL_ON:=bArwHLmOn;
LMNG_PID.ARWLL_ON:=bArwLLmOn;
LMNG_PID.R_MTR_TM:=rMtrTm;
LMNG_PID.MAN_ON:=((MAN_ON OR LMNOP_ON) AND LMNR_ON) OR LMNS_ON OR LMNSOPON;
LMNG_PID.LMNGS_ON:=1;
LMNG_PID.LMNR_ON:=LMNR_ON;
END_FUNCTION_BLOCK
Ïðîñìîòðîâ: 7077
Êîììåíòàðèè ê ìàòåðèàëó
Äîáàâëåí: Ñòåëñåð Äàòà: 2013-02-01
Êòî íèáóäü ïîíèìàåò, ÷òî îçíà÷àåò ýòîò êóñîê êîäà:
Ianteil:=sIanteilAlt+Diff; sRestInt:=sIanteilAlt-Ianteil+Diff;
????
Äîáàâëåí: XHunter Äàòà: 2015-02-10
À ÷òî òóò íåïîíÿòíîãî: sRestInt:=0; ïðîãðàììåð ïðèêîëîëñÿ.
Äîáàâëåí: denzhig Äàòà: 2019-02-22
Òàê óõîäÿò îò èñêàæåíèÿ ðåçóëüòàòà ïðè ñëîæåíèè Î×ÅÍÜ áîëüøîãî REAL-îâñêîãî ÷èñëà ñ î÷åíü ìàëåíüêèì.
Äîáàâëåí: serereg Äàòà: 2019-04-04
"Òàê óõîäÿò îò èñêàæåíèÿ ðåçóëüòàòà ïðè ñëîæåíèè Î×ÅÍÜ áîëüøîãî REAL-îâñêîãî ÷èñëà ñ î÷åíü ìàëåíüêèì."
Ìîæíî ïîïîäðîáíåå?
Äîáàâèòü êîììåíòàðèé