CTRL_PID¶
FT_PI is a PI controller with manual functionality.
version 2.0 30. jun. 2008 programmer hugo tested by oscat
FT_PI is a PI controller with manual functionality. The PID controller works according to the fomula Y = e *(KP+ KI * INTEG(e) ) + offset, while e = set_point - actual. a rst will reset all internal data, while a switch to manual will cause the controller to follow the function Y = manual_in + offset. limit_h and Limit_l set the possible output range of Y. the output flags lim will signal that the output limits are active.
Interface¶
Event Inputs¶
| Name | Comment | With |
|---|---|---|
| REQ | Normal Execution Request | ACT, SET, SUP, OFS, M_I, MAN, KP, TN, TV, LL, LH |
| RST | Reset |
Event Outputs¶
| Name | Comment | With |
|---|---|---|
| CNF | Execution Confirmation | Y, DIFF, LIM |
Input Vars¶
| Name | Type | Initial Value | Comment |
|---|---|---|---|
| ACT | REAL | Actual Value | |
| SET | REAL | Set Point | |
| SUP | REAL | Noise Suppression | |
| OFS | REAL | Offset | |
| M_I | REAL | Manual Input | |
| MAN | BOOL | Manual Mode | |
| KP | REAL | 1.0 | Proportional Gain |
| TN | REAL | 1.0 | Integral Time |
| TV | REAL | 1.0 | Derivative Time |
| LL | REAL | -1000.0 | Limit Low |
| LH | REAL | 1000.0 | Limit High |
Output Vars¶
| Name | Type | Comment |
|---|---|---|
| Y | REAL | Output |
| DIFF | REAL | Difference |
| LIM | BOOL | Limit Reached |