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AnnexF/pid_st.txt
author Edouard Tisserant
Fri, 19 Oct 2012 12:10:32 +0200
changeset 634 736b36a83548
parent 0 fb772792efd1
permissions -rwxr-xr-x
Added double curly braces for pragma (kept single curly braces for compatibility). Added macro def and undef surrounding pragma to simplify user code. Moved useless comment from generated code back to code generator.
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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