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    Plant CTRL (PRG-FBD)

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    GrupoMecatrónica
    This document defines variables and constants for a PID controller that controls the speed of a plant by adjusting the PWM duty cycle of Channel2_CTRL. It initializes variables like tuning parameters KP, KI, KD calculated by PID_PARAMETERS_CALC, a velocity setpoint, and enables PID tuning. It also contains the PID control algorithm that takes the measured speed and setpoint as inputs, applies the PID calculation, and selects the limited output for Channel2_CTRL.

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    Plant CTRL (PRG-FBD)

    Uploaded by

    GrupoMecatrónica
    26 views2 pages
    This document defines variables and constants for a PID controller that controls the speed of a plant by adjusting the PWM duty cycle of Channel2_CTRL. It initializes variables like tuning parameters KP, KI, KD calculated by PID_PARAMETERS_CALC, a velocity setpoint, and enables PID tuning. It also contains the PID control algorithm that takes the measured speed and setpoint as inputs, applies the PID calculation, and selects the limited output for Channel2_CTRL.

    Original Description:

    Programa Diagrama a Bloques

    Original Title

    Plant Ctrl (Prg-fbd)

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    This document defines variables and constants for a PID controller that controls the speed of a plant by adjusting the PWM duty cycle of Channel2_CTRL. It initializes variables like tuning parameters KP, KI, KD calculated by PID_PARAMETERS_CALC, a velocity setpoint, and enables PID tuning. It also contains the PID control algorithm that takes the measured speed and setpoint as inputs, applies the PID calculation, and selects the limited output for Channel2_CTRL.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    Download as pdf or txt
    26 views2 pages

    Plant CTRL (PRG-FBD)

    Uploaded by

    GrupoMecatrónica
    This document defines variables and constants for a PID controller that controls the speed of a plant by adjusting the PWM duty cycle of Channel2_CTRL. It initializes variables like tuning parameters KP, KI, KD calculated by PID_PARAMETERS_CALC, a velocity setpoint, and enables PID tuning. It also contains the PID control algorithm that takes the measured speed and setpoint as inputs, applies the PID calculation, and selects the limited output for Channel2_CTRL.

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    © All Rights Reserved
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    of 2

    0001 PROGRAM PLANT_CTRL

    0002 VAR
    0003
    Channel2_CTRL: PWM1000;
    0004
    MyMaxControlValue: WORD := 1000;
    0005
    Tuning: PID_PARAMETERS_CALC;
    0006
    SpeedMeasurement: PERIOD_RATIO;
    0007
    MyVelocitySetpoint: DINT;
    0008
    PID_Tuning_Enable: BOOL;
    0009
    NumberOfCycles: BYTE := 100;
    0010
    KP: REAL;
    0011
    KI: REAL;
    0012
    KD: REAL;
    0013
    ResetData: BOOL;
    0014
    PID_CONTROLLER: PID;
    0015
    MyVelocitySetpoint2:DINT;
    0016
    Y_MANUAL: REAL;
    0017 END_VAR
    0001
    PERIOD_RATIO
    init_1
    0
    20
    0002
    MUL
    SpeedMeasurement.F
    60

    Tuning
    PID_PARAMETERS_CALC

    DIV

    MyVelocitySetpoint Setpoint
    Actual
    NumberOfCycles NumberOfCycles_EvenNumber
    PID_Tuning_Enable Enable
    MyMaxControlValue OutputMaxAmplitude_1000Percent
    ResetData Reset

    Control

    0003
    MUL
    SpeedMeasurement.F
    60

    PID_CONTROLLER
    PID

    DIV
    7

    MyVelocitySetpoint2
    KP
    KI
    KD
    Y_MANUAL
    0
    MyMaxControlValue
    PID_Tuning_Enable

    ACTUAL
    SET_POINT
    KP
    TN
    TV
    Y_MANUAL
    Y_OFFSET
    Y_MIN
    Y_MAX
    MANUAL
    RESET

    Y
    LIMITS_ACTIVE
    OVERFLOW

    REAL_TO_W

    ledOutput
    KP
    KI
    KD

    PID_Control_Output
    KP
    KI
    KD

    WORD

    SEL
    PID_Control_Output
    MyMaxControlValue

    PWM1000
    init_1
    50
    2
    TRUE

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