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110 lines
2.3 KiB
Plaintext
110 lines
2.3 KiB
Plaintext
6 months ago
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
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<POU Name="FT_PIWL" Id="{8cecf0cc-cac1-4356-93da-bbf6e749af95}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FT_PIWL
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VAR_INPUT
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IN : REAL;
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KP : REAL := 1.0;
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KI : REAL := 1.0;
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LIM_L : REAL := -1.0E38;
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LIM_H : REAL := 1.0E38;
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RST : BOOL;
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END_VAR
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VAR_OUTPUT
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Y : REAL;
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LIM : BOOL;
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END_VAR
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VAR
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init: BOOL;
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tx: DWORD;
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tc : REAL;
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t_last: DWORD;
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in_last : REAL;
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i: REAL;
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p: REAL;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[(*
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version 1.3 11. mar. 2009
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programmer hugo
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tested by oscat
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FT_PIWL is a PI controller.
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The PID controller works according to the fomula Y = IN *(KP+ KI * INTEG(e) ).
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a rst will reset the integrator to 0
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lim_h and Lim_l set the possible output range of the controller.
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the output flag lim will signal that the output limits are active.
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the integrator ist equipped with anti wind-up circuitry which limits trhe total output ranke to lim_l and lim_h
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default values for KP = 1, KI = 1, ILIM_L = -1E37, iLIM_H = +1E38.
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*)
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(* @END_DECLARATION := '0' *)
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(* initialize at power_up *)
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IF NOT init OR RST THEN
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init := TRUE;
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in_last := in;
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t_last := T_PLC_US();
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i := 0.0;
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tc := 0.0;
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ELSE
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(* read last cycle time in Microseconds *)
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tx := T_PLC_US();
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tc := DWORD_TO_REAL(tx - t_last);
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t_last := tx;
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(* calculate proportional part *)
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p := KP * IN;
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(* run integrator *)
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i := (IN + in_last) * 5.0E-7 * KI * tc + i;
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in_last := IN;
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(* calculate output Y *)
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Y := p + i;
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(* check output for limits *)
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IF Y >= LIM_H THEN
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Y := LIM_H;
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IF ki <> 0.0 THEN
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i := LIM_H - p;
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ELSE
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i := 0.0;
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END_IF;
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LIM := TRUE;
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ELSIF Y <= LIM_L THEN
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Y := LIM_L;
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IF ki <> 0.0 THEN
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i := LIM_L - p;
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ELSE
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i := 0.0;
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END_IF;
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LIM := TRUE;
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ELSE
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LIM := FALSE;
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END_IF;
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END_IF;
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(* revision history
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hm 13. jun. 2008 rev 1.0
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original version
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hm 27. oct. 2008 rev 1.1
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integrator will not be adjusted when ki = 0
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hm 25. jan 2009 rev 1.2
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module will also work with negative K
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hm 11. mar. 2009 rev 1.3
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real constants updated to new systax using dot
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*)]]></ST>
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</Implementation>
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<LineIds Name="FT_PIWL">
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<LineId Id="26" Count="60" />
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<LineId Id="89" Count="12" />
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<LineId Id="9" Count="0" />
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</LineIds>
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</POU>
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</TcPlcObject>
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