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90 lines
2.0 KiB
Plaintext
90 lines
2.0 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_PIDWL" Id="{2d524001-6ab8-495f-9e95-700c27215e19}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FT_PIDWL
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VAR_INPUT
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IN : REAL;
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KP : REAL := 1.0;
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TN : REAL := 1.0;
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TV : 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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piwl : FT_PIWL;
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diff : FT_DERIV;
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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 13. nov. 2009
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programmer hugo
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tested by tobias
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FT_PIDWL is a PID controller with dynamic wind_up reset.
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The PID controller works according to the fomula Y = KP *(IN + KI * INTEG(e) + DERIV(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 internal integrator.
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the output flags lim will signal that the output limits are active.
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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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(* if rst then *)
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IF rst THEN
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piwl(rst := TRUE);
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piwl.RST := FALSE;
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ELSE
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(* run PIWL controller first *)
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(* we need to check if TN = 0 and do alternative calls *)
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IF TN = 0.0 THEN
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piwl(in := IN * KP, KP := 1.0, KI := 0.0, LIM_L := LIM_L, LIM_H := LIM_H);
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ELSE
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piwl(in := IN * KP, KP := 1.0, KI := 1.0 / TN, LIM_L := LIM_L, LIM_H := LIM_H);
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END_IF;
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(* run differentiator and add_to_output *)
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diff(IN := IN, K := KP * TV);
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Y := piwl.Y + diff.out;
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(* limit the output *)
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IF Y < LIM_L THEN
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LIM := TRUE;
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Y := LIM_L;
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ELSIF Y > LIM_H THEN
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LIM := TRUE;
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Y := LIM_H;
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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 25. jan 2008 rev 1.1
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multiply differential part with KP
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hm 11. mar. 2009 rev 1.2
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real constants updated to new systax using dot
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hm 13. nov. 2009 rev 1.3
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fixed code for negative KP
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*)]]></ST>
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</Implementation>
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<LineIds Name="FT_PIDWL">
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<LineId Id="21" Count="58" />
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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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