FT_PIDWL¶
PI Controller with Anti-Windup
version 1.3 13. nov. 2009 programmer hugo tested by tobias
FT_PIDWL is a PID controller with dynamic wind_up reset. The PID controller works according to the fomula Y = KP *(IN + KI * INTEG(e) + DERIV(e) ). a rst will reset the integrator to 0 lim_h and Lim_l set the possible output range of the internal integrator. the output flags lim will signal that the output limits are active.
Interface¶
Event Inputs¶
| Name | Comment | With |
|---|---|---|
| INIT | Init Request | |
| REQ | Normal Execution Request | IN, KP, TN, TV, LIM_L, LIM_H |
| RST | Reset Integrator | IN |
Event Outputs¶
| Name | Comment | With |
|---|---|---|
| INITO | Init Confirmation | Y, LIM |
| CNF | Execution Confirmation | Y, LIM |
Input Vars¶
| Name | Type | Initial Value | Comment |
|---|---|---|---|
| IN | REAL | Process Variable Input | |
| KP | REAL | 1.0 | Proportional Gain |
| TN | REAL | 1.0 | Integral Time |
| TV | REAL | 1.0 | Derivative Time |
| LIM_L | REAL | -1.0E38 | Output Limit Low |
| LIM_H | REAL | 1.0E38 | Output Limit High |
Output Vars¶
| Name | Type | Comment |
|---|---|---|
| Y | REAL | PID Output |
| LIM | BOOL | Limit reached flag |