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AnnexF/pid_st.txt
author mjsousa
Sat, 07 May 2016 21:17:49 +0100
changeset 1010 242907849850
parent 0 fb772792efd1
permissions -rwxr-xr-x
Correctly identify errors when parsing erroneous code (make sure flex goes back to INITIAL state when code contains errors that do not allow determining whether ST or IL is being parsed)
0
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 FUNCTION_BLOCK PID
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   VAR_INPUT
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     AUTO : BOOL ;        (* 0 - manual , 1 - automatic *)
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     PV : REAL ;          (* Process variable *)
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     SP : REAL ;          (* Set point *)
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     X0 : REAL ;          (* Manual output adjustment - *)
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                          (* Typically from transfer station *)
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     KP : REAL ;          (* Proportionality constant *)
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     TR : REAL ;          (* Reset time *)
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     TD : REAL ;          (* Derivative time constant *)
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     CYCLE : TIME ;       (* Sampling period *)
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   END_VAR
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   VAR_OUTPUT XOUT : REAL; END_VAR
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   VAR ERROR : REAL ;        (* PV - SP *)
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       ITERM : INTEGRAL ;    (* FB for integral term  *)
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       DTERM : DERIVATIVE ;  (* FB for derivative term *)
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   END_VAR
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   ERROR := PV - SP ;
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   (*** Adjust ITERM so that XOUT := X0 when AUTO = 0 ***)
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   ITERM (RUN := AUTO, R1 := NOT AUTO, XIN := ERROR,
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          X0 := TR * (X0 - ERROR), CYCLE := CYCLE) ;
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   DTERM (RUN := AUTO, XIN := ERROR, CYCLE := CYCLE) ;
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   XOUT := KP * (ERROR + ITERM.XOUT/TR + DTERM.XOUT*TD) ;
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 END_FUNCTION_BLOCK
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