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132 lines
2.0 KiB
132 lines
2.0 KiB
5 months ago
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FUNCTION_BLOCK BS_PID
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VAR_EXTERNAL
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END_VAR
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VAR_INPUT
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RUN : BOOL ; (* PID功能块启用 *)
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STOP_D : BOOL ; (* 微分启停 *)
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STOP_I : BOOL ; (* 积分启停 *)
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SET : REAL ; (* PID调节目标值 *)
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FB : REAL ; (* PID调节目标值的反馈值 *)
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Kfb : REAL:=1.0; (* 反馈参数 *)
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Kp : REAL:=30.0 ; (* 比例参数 *)
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Ti : REAL:=150.0 ; (* 积分参数 *)
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Td : REAL ; (* 微分参数 *)
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Dead_Band : REAL; (* 死区 *)
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Ymax : REAL ; (* 最大输出值 *)
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Ymin : REAL ; (* 最小输出值 *)
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END_VAR
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VAR_OUTPUT
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OUT : REAL ; (* 积分最大输出值 *)
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END_VAR
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VAR
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TIME1 : REAL ;
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TIME2 : REAL ;
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Y1 : REAL ;
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Y2 : REAL ;
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Y3 : REAL ;
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CYCL : BOOL ;
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START : BOOL ;
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Delta : REAL ;
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OUTP : REAL ;
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OUTI : REAL ;
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OUTD : REAL ;
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I : DINT ;
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END_VAR
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(*
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时 间：20191006
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版 本：1.1
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作 者：姚立
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名 称：PID程序
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说 明：用于PID控制计算
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备 注：修正了除0情况的报错发生
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依赖块：无
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*)
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IF RUN=TRUE AND kp<>0.0 AND Ti<>0.0 THEN
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IF (TIME2<>(DINT_TO_REAL(TIME_TO_DINT(GetTime(t#0ms))))) THEN
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TIME1:=TIME2;
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TIME2:=DINT_TO_REAL(TIME_TO_DINT(GetTime(t#0ms)));
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Y1:=Y2;
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Y2:=Y3;
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Y3:=SET-(Kfb*FB);
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IF I>=2 AND DEAD_BAND<ABS(Y3) THEN(*死区*)
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OUTP:=Y3*Kp;
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Delta:=(TIME2-TIME1)/1000.0;
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IF STOP_I<>TRUE THEN
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OUTI:=OUTI+((Y2+Y3)*Delta/2.0)/Ti;
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IF OUTI>Ymax THEN(*防止积分过大*)
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OUTI:=Ymax;
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ELSIF OUTI<(0.0-Ymax) THEN
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OUTI:=(0.0-Ymax);
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END_IF;
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END_IF;
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IF STOP_D<>TRUE THEN
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OUTD:=Td*(0.5*Y1-2.0*Y2+1.5*Y3)/Delta;
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END_IF;
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ELSE
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I:=I+1;
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END_IF;
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END_IF;
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(* Adder *)
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IF OUTP+OUTI+OUTD>Ymax THEN
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OUT:=Ymax;
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ELSIF OUTP+OUTI+OUTD<Ymin THEN
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OUT:=Ymin;
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ELSE
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OUT:=OUTP+OUTI+OUTD;
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END_IF;
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ELSE
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TIME1:=0.0;
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TIME2:=0.0;
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Y1:=0.0;
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Y2:=0.0;
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Y3:=0.0;
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CYCL:=FALSE;
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START:=FALSE;
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Delta:=0.0;
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OUTP:=0.0;
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OUTI:=0.0;
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OUTD:=0.0;
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OUT :=0.0;
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I :=0;
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END_IF;
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END_FUNCTION_BLOCK
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