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AnnexF/pid_st.txt
author Edouard Tisserant
Tue, 14 Dec 2021 08:48:05 +0100
changeset 1096 fad6e7a818e2
parent 0 fb772792efd1
permissions -rwxr-xr-x
Variable forcing now uses limited list and buffer instead of systematical instance tree traversal and in-tree "fvalue" to keep track of forced value for pointed variables (external, located). Pointer swapping is performed when forcing externals and located, with backup being restored when forcing is reset. Match Beremiz commit 93ad018fb602.
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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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