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Last modified by Iris on 2025/09/17 20:56
From version 2.7
edited by Iris
on 2025/09/17 19:49
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To version 2.3
edited by Iris
on 2025/09/17 19:41
Change comment: There is no comment for this version

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... ... @@ -31,13 +31,13 @@
31 31  
32 32  This instruction is to complete the PID operation and is used to control the parameters of the closed-loop control system. PID control has a wide range of applications in mechanical equipment, pneumatic equipment, constant pressure water supply and electronic equipment, etc. among them:
33 33  
34 -[[image:11_html_1c6bb88c06ac24cf.png]] is the target value of PID control;
34 +[[image:11_html_1c6bb88c06ac24cf.png||class="img-thumbnail"]] is the target value of PID control;
35 35  
36 -[[image:11_html_fb5122fb6e3a43d5.png]] is the measured feedback value;
36 +[[image:11_html_fb5122fb6e3a43d5.png||class="img-thumbnail"]] is the measured feedback value;
37 37  
38 -[[image:11_html_6c3fad4a32a3db43.png]] The starting address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupies a total of 26 variable units in the subsequent addresses, the value range is D0 to D7974, it is best to specify the power failure retention area, which will remain after the power is OFF Set the value, otherwise the buffer area needs to be assigned value before starting the operation for the first time. The function and parameter description of each unit are described in this section;
38 +[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] The starting address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupies a total of 26 variable units in the subsequent addresses, the value range is D0 to D7974, it is best to specify the power failure retention area, which will remain after the power is OFF Set the value, otherwise the buffer area needs to be assigned value before starting the operation for the first time. The function and parameter description of each unit are described in this section;
39 39  
40 -[[image:11_html_b126b1b2673dc1f4.png]] is the storage unit of the PID calculation result. Please designate [[image:11_html_d47cd1f59b766ed3.png]] as a non-battery holding area, otherwise it needs to be initialized and cleared before starting the calculation for the first time.
40 +[[image:11_html_b126b1b2673dc1f4.png||class="img-thumbnail"]] is the storage unit of the PID calculation result. Please designate [[image:11_html_d47cd1f59b766ed3.png||class="img-thumbnail"]] as a non-battery holding area, otherwise it needs to be initialized and cleared before starting the calculation for the first time.
41 41  
42 42  **Programming example**
43 43  
... ... @@ -51,29 +51,29 @@
51 51  
52 52  The D130 unit is used to store the calculated control output value to control the execution of the action.
53 53  
54 -The function and setting method of the parameter value of each unit about starting of [[image:11_html_6c3fad4a32a3db43.png]] are described in the following table:
54 +The function and setting method of the parameter value of each unit about starting of [[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] are described in the following table:
55 55  
56 56  |**Unit**|**Features**|**Setting instructions**
57 -|[[image:11_html_6c3fad4a32a3db43.png]]|Sampling time (TS)|The setting range is 1 to 32767 (ms), but it needs to be greater than the PLC program scan period
58 -|[[image:11_html_6c3fad4a32a3db43.png]] +1|Action direction (ACT)|(((
57 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]]|Sampling time (TS)|The setting range is 1 to 32767 (ms), but it needs to be greater than the PLC program scan period
58 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +1|Action direction (ACT)|(((
59 59  bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional
60 60  
61 61  bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.
62 62  )))
63 -|[[image:11_html_6c3fad4a32a3db43.png]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
64 -|[[image:11_html_6c3fad4a32a3db43.png]] +3|Proportional gain (Kp)|Setting range 0 to 32767, note that this value is enlarged by 256 times, the actual value is Kp/256
65 -|[[image:11_html_6c3fad4a32a3db43.png]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
66 -|[[image:11_html_6c3fad4a32a3db43.png]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
67 -|[[image:11_html_6c3fad4a32a3db43.png]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
68 -|[[image:11_html_6c3fad4a32a3db43.png]] +7|Output lower limit|(((
63 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
64 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +3|Proportional gain (Kp)|Setting range 0 to 32767, note that this value is enlarged by 256 times, the actual value is Kp/256
65 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
66 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
67 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
68 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +7|Output lower limit|(((
69 69  Recommended setting range -2000 to 2000
70 70  
71 71  {{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
72 72  )))
73 -|[[image:11_html_6c3fad4a32a3db43.png]] +8|Output upper limit|Recommended setting value 2000
74 -|[[image:11_html_6c3fad4a32a3db43.png]] +9|Reserved|Reserved
73 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +8|Output upper limit|Recommended setting value 2000
74 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +9|Reserved|Reserved
75 75  |︙|︙|︙
76 -|[[image:11_html_6c3fad4a32a3db43.png]] +25|Reserved|Reserved
76 +|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +25|Reserved|Reserved
77 77  
78 78  **Auto tuning example**
79 79  
... ... @@ -156,23 +156,20 @@
156 156  |4085H|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
157 157  |4086H|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
158 158  |4D80H|The sampling time is out of range.​(T,,S,,≤0)
159 -|4D81H|Input filter constant (Co) is out of range (Co<0 or Co≥1023)
160 -|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//​<0 or △//T//​>32000)
161 -|4D83H|(((
162 -The proportional gain (Kp) is out of range. Kp<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps287.png]]
163 -)))
164 -|(((
165 -4D84H
166 -)))|(((
167 -The integral gain (Ki) is out of range. Ki<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps288.png]]
168 -)))
169 -|4D85H|(((
170 -The differential gain (Kd) is out of range. Kd<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps289.png]]
171 -)))
172 -|4D86H|The sampling time (Ts) is less than the operation cycle.​​​​(T//s//<Scan cycle)
159 +|4D81H|Input filter constant (α) is out of range (α​<0 or α>1023)
160 +|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//​<0 or △//T//​>1023)
161 +|4D86H|The sampling time (Ts) is less than the operation cycle.​​​​​​​​​​​(T//s//<Scanning cycle)
162 +|4D87H|The proportional gain (K//p//) is out of range.​​​​(K//p//<1 or K//p//>32000)​​​​​​​
163 +|4D88H|The integral time constant (Ti) is out of range.(K//i​//<0 or K//i//>3600)
164 +|4D89H|The differential time constant (T//d//) is out of range.(K//d//<0 or K//d//>1000)
165 +|4D90H|The upper limit of CCPID output is less than the lower limit.
173 173  
174 -**FPID/FPID calculation**
167 +**Example**
175 175  
169 +See "__CCPID Instruction Manual__".
170 +
171 +== **{{id name="_Toc8661"/}}{{id name="_Toc13227"/}}{{id name="_Toc18478"/}}{{id name="_Toc29418"/}}{{id name="_Toc5268"/}}{{id name="_Toc5168"/}}{{id name="_Toc307"/}}**FPID/FPID calculation ==
172 +
176 176  **FPID**
177 177  
178 178  The function of this instruction is to adjust PID control parameters by fuzzy algorithm.
... ... @@ -330,13 +330,13 @@
330 330  
331 331  **Device used**
332 332  
333 -[[image:11_html_954290ac172c672b.jpg]] is the target value (SV) of PID control;
330 +[[image:11_html_954290ac172c672b.jpg||class="img-thumbnail"]] is the target value (SV) of PID control;
334 334  
335 -[[image:11_html_31f47ac5eec30067.jpg]] is the measured feedback value (PV);
332 +[[image:11_html_31f47ac5eec30067.jpg||class="img-thumbnail"]] is the measured feedback value (PV);
336 336  
337 -[[image:11_html_6dcdd8fc88703a47.jpg]] is the start address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupying a total of 52 variable units of subsequent addresses (recommended to reserve 100 continuous spaces).The value range is D0 to D7,948, it is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise,the buffer needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section;
334 +[[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] is the start address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupying a total of 52 variable units of subsequent addresses (recommended to reserve 100 continuous spaces).The value range is D0 to D7,948, it is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise,the buffer needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section;
338 338  
339 -[[image:11_html_7e06d96423d5de52.jpg]] is the storage unit (MV) of the PID calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
336 +[[image:11_html_7e06d96423d5de52.jpg||class="img-thumbnail"]] is the storage unit (MV) of the PID calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
340 340  
341 341  (% style="text-align:center" %)
342 342  [[image:11_html_8eeef07485b91193.jpg||class="img-thumbnail"]]
... ... @@ -351,13 +351,13 @@
351 351  
352 352  D130 unit is used to store the calculated control output value to control the execution of the action.
353 353  
354 -The functions and setting methods of the parameter values of each unit used by [[image:11_html_6dcdd8fc88703a47.jpg]] are described in the following table:
351 +The functions and setting methods of the parameter values of each unit used by [[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] are described in the following table:
355 355  
356 -[[image:11_html_6dcdd8fc88703a47.jpg]] to [[image:11_html_6dcdd8fc88703a47.jpg]] +14 is the parameter range that can be set (parameters set when CCPID is executed).
353 +[[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] to [[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +14 is the parameter range that can be set (parameters set when CCPID is executed).
357 357  
358 -[[image:11_html_6dcdd8fc88703a47.jpg]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg]] +21 is the space used internally by CCPID control.
355 +[[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +21 is the space used internally by CCPID control.
359 359  
360 -[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +51 is the parameter space used in the auto-tuning process.
357 +[[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +51 is the parameter space used in the auto-tuning process.
361 361  
362 362  |**Unit**|**Features**|**Setting instructions**|**Supplement**
363 363  | |Sample time (TS)|The set range is 1 to 32,767 (ms), but greater than PLC program scan cycle.|It is how often the instruction calculates and updates the output value (MV). When TS is less than one scan time, PID instruction is executed with one scan time and alarm 4D86H. When TS ≤ 0, alarm 4D80H and no execution.