PIDUI – PID controller unit with variable parameters

Block SymbolLicensing group: ADVANCED
PIC

Function Description
The functionality of the PIDUI block is completely equivalent to the PIDU block. The only difference is that the PID control algorithm parameters are defined by the input signals and therefore they can depend on the outputs of other blocks. This allows creation of special adaptive PID controllers.

Inputs

dv

Feedforward control variable

double

sp

Setpoint variable

double

pv

Process variable

double

tv

Tracking variable

double

hv

Manual value

double

MAN

Manual or automatic mode

bool

off ..

Automatic mode

on ...

Manual mode

IH

Integrator hold

bool

off ..

Integration enabled

on ...

Integration disabled

k

Controller gain K

double

ti

Integral time constant Ti

double

td

Derivative time constant Td

double

nd

Derivative filtering parameter N

double

b

Setpoint weighting – proportional part

double

c

Setpoint weighting – derivative part

double

Outputs

mv

Manipulated variable (controller output)

double

dmv

Controller velocity output (difference)

double

de

Deviation error

double

SAT

Saturation flag

bool

off ..

The controller implements a linear control law

on ...

The controller output is saturated

Parameters

irtype

Controller type (control law)  6

long

1 ....

D

2 ....

I

3 ....

ID

4 ....

P

5 ....

PD

6 ....

PI

7 ....

PID

RACT

Reverse action flag

bool

off ..

Higher mv higher pv

on ...

Higher mv lower pv

tt

Tracking time constant. No meaning for controllers without integrator.  1.0

double

hilim

Upper limit of the controller output  1.0

double

lolim

Lower limit of the controller output  -1.0

double

dz

Dead zone

double

icotype

Controller output type  1

long

1 ....

Analog output

2 ....

Pulse width modulation (PWM)

3 ....

Step controller unit with position feedback (SCU)

4 ....

Step controller unit without position feedback (SCUV)