Flow-X─ Function Reference
4-267
Flow-X General functions - fxPID
Check if the current setpoint needs to be gradually ramped up or down to the required
setpoint:
If (SP
CUR
- SP
PRV
) > ( Upwards SP clamp rate * Δt ) then
SP
CUR
= SP
PRV
+ ( Upwards SP clamp rate * Δt )
Else if (SP
PRV
- SP
CUR
) > ( Downwards SP clamp rate * Δt) then
SP
CUR
= SP
PRV
- ( Downwards SP clamp rate * Δt )
Calculate the current error:
If Control direction = Forward then
e
CUR
= SP
CUR
– PV
CUR
Else
e
CUR
= PV
CUR
– SP
CUR
Calculate the Proportional part:
P = K
P
* e
CUR
Calculate the Integral part:
I
CUR
= I
PRV
+ Ki * Δt * ( e
CUR
+ (u
PRV
- v
PRV
)*(High scale value - Low scale value)/100 )
Note: the latter part is required to avoid anti-windup.
Calculate the Derivative part:
D = Kd / Δt * (e
CUR
- e
PRV
)
Calculate the required control output:
v
CUR
= [ P + I
CUR
+ D - Low scale value ] / [ High scale vale – Low scale value ]
Check if change in control output is within the slew rate
If v
CUR
- u
PRV
> Upwards slew rate * Δt then
u
CUR
= u
PRV
+ ( Upwards slew rate * Δt )
Else if Δu < - ( Downwards slew rate * Δt ) then
u
CUR
= u
PRV
- ( Downwards slew rate * Δt )
Else
u
CUR
= v
CUR
Check if new control output is outside its limits
If u
CUR
> u
MAX
then
u
CUR
= u
MAX
Содержание flow-x
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