| author | Mario de Sousa <msousa@fe.up.pt> |
| Mon, 03 Apr 2017 18:30:50 +0100 | |
| changeset 1037 | bf39078476e4 |
| parent 276 | 1679f514f38a |
| permissions | -rwxr-xr-x |
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(* Following taken directly from the IEC 61131.3 draft standard *) |
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(* |
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* An IEC 61131-3 IL and ST compiler. |
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* |
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* Based on the |
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* FINAL DRAFT - IEC 61131-3, 2nd Ed. (2001-12-10) |
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* |
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*) |
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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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