首先用fc105模块将第一条的模拟量,二、三条的压力等转换为对应的数字量。然后用这个转换后的数字量作为fb41的参考输入,这样pid会根据这个参考输入(即目标值)计算pid的控制量。然后将此控制量利用fc106转换为模拟量输出给阀门来改变阀门开度即可。
这里面你的问题比较笼统,主要是你进来的模拟量的量程,然后就是你控制阀门的类型,比如说用4-200ma控制阀门,还是1-5v控制阀门,这个还要具体讨论。
fc105
106是模数、数模转换模块。因为plc不能直接处理模拟量,所以要通过模块来转换,如果你要完成具体程序,就要知道你用的模拟量的类型、量程。
另外fb41的背景db你分配后它里面就含有fb41的具体参数,作为一般应用其实可以不用通过背景db来编程。用梯形图基本就可以处理你的问题。
C语言实现PID算法BC31 TC30 编译过,可运行。
#include <stdio.h>
#include<math.h>
struct _pid {
int pv /*integer that contains the process value*/
int sp /*integer that contains the set point*/
float integral
float pgain
float igain
float dgain
int deadband
int last_error
}
struct _pid warm,*pid
int process_point, set_point,dead_band
float p_gain, i_gain, d_gain, integral_val,new_integ
/*------------------------------------------------------------------------
pid_init
DESCRIPTION This function initializes the pointers in the _pid structure
to the process variable and the setpoint. *pv and *sp are integer pointers.
------------------------------------------------------------------------*/
void pid_init(struct _pid *warm, int process_point, int set_point)
{
struct _pid *pid
pid = warm
pid->pv = process_point
pid->sp = set_point
}
/*----------------------------------------------------------------------------------
pid_tune
DESCRIPTION Sets the proportional gain (p_gain), integral gain (i_gain),
derivitive gain (d_gain), and the dead band (dead_band) of a pid control structure _pid. ----------------------------------------------------------------------------------------*/
void pid_tune(struct _pid *pid, float p_gain, float i_gain, float d_gain, int dead_band)
{
pid->pgain = p_gain
pid->igain = i_gain
pid->dgain = d_gain
pid->deadband = dead_band
pid->integral= integral_val
pid->last_error=0
}
/*-------------------------------------------------------------------------------
pid_setinteg
DESCRIPTION Set a new value for the integral term of the pid equation.
This is useful for setting the initial output of the pid controller at start up.
--------------------------------------------------------------------------------*/
void pid_setinteg(struct _pid *pid,float new_integ)
{
pid->integral = new_integ
pid->last_error = 0
}
/*----------------------------------------------------------------------------------------
pid_bumpless
DESCRIPTION Bumpless transfer algorithim. When suddenly changing setpoints, or when restarting the PID equation after an extended pause, the derivative of the equation can cause a bump in the controller output.
This function will help smooth out that bump. The process value in *pv should be the updated just before this function is used.
----------------------------------------------------------------------------------------*/
void pid_bumpless(struct _pid *pid)
{
pid->last_error = (pid->sp)-(pid->pv)
}
/*----------------------------------------------------------------------------------------
pid_calc
DESCRIPTION Performs PID calculations for the _pid structure *a. This function uses the positional form of the pid equation, and incorporates an integral windup prevention algorithim. Rectangular integration is used, so this function must be repeated on a consistent time basis for accurate control. RETURN VALUE The new output value for the pid loop.
----------------------------------------------------------------------------------------*/
USAGE #include "control.h"*/
float pid_calc(struct _pid *pid)
{
int err
float pterm, dterm, result, ferror
err = (pid->sp) - (pid->pv)
if (abs(err) >pid->deadband)
{
ferror = (float) err /*do integer to float conversion only once*/
pterm = pid->pgain * ferror
if (pterm >100 || pterm <-100)
{
pid->integral = 0.0
} else {
pid->integral += pid->igain * ferror
if (pid->integral >100.0)
{
pid->integral = 100.0
} else if (pid->integral <0.0) pid->integral = 0.0
}
dterm = ((float)(err - pid->last_error)) * pid->dgain
result = pterm + pid->integral + dterm
} else result = pid->integral
pid->last_error = err
return (result)
}
void main(void)
{
float display_value
int count=0
pid = &warm
// printf("Enter the values of Process point, Set point, P gain, I gain, D gain \n")
// scanf("%d%d%f%f%f", &process_point, &set_point, &p_gain, &i_gain, &d_gain)
process_point = 30
set_point = 40
p_gain = (float)(5.2)
i_gain = (float)(0.77)
d_gain = (float)(0.18)
dead_band = 2
integral_val =(float)(0.01)
printf("The values of Process point, Set point, P gain, I gain, D gain \n")
printf(" %6d %6d %4f %4f %4f\n", process_point, set_point, p_gain, i_gain, d_gain)
printf("Enter the values of Process point\n")
while(count<=20)
{
scanf("%d",&process_point)
pid_init(&warm, process_point, set_point)
pid_tune(&warm, p_gain,i_gain,d_gain,dead_band)
pid_setinteg(&warm,0.0)//pid_setinteg(&warm,30.0)
//Get input value for process point
pid_bumpless(&warm)
// how to display output
display_value = pid_calc(&warm)
printf("%f\n", display_value)
//printf("\n%f%f%f%f",warm.pv,warm.sp,warm.igain,warm.dgain)
count++
}
}
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