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