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 (F64)

sp

Setpoint variable

Double (F64)

pv

Process variable

Double (F64)

tv

Tracking variable

Double (F64)

hv

Manual value

Double (F64)

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 (F64)

ti

Integral time constant Ti

Double (F64)

td

Derivative time constant Td

Double (F64)

nd

Derivative filtering parameter N

Double (F64)

b

Setpoint weighting – proportional part

Double (F64)

c

Setpoint weighting – derivative part

Double (F64)

Outputs

mv

Manipulated variable (controller output)

Double (F64)

dmv

Controller velocity output (difference)

Double (F64)

de

Deviation error

Double (F64)

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 (I32)

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  1.0

Double (F64)

hilim

Upper limit of the controller output  1.0

Double (F64)

lolim

Lower limit of the controller output  -1.0

Double (F64)

dz

Dead zone

Double (F64)

icotype

Controller output type  1

Long (I32)

1 ....

Analog output

2 ....

Pulse width modulation (PWM)

3 ....

Step controller unit with position feedback (SCU)

4 ....

Step controller unit without position feedback (SCUV)

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