Helios/PHT/PLC/POUs/FB/Temp_controller.TcPOU

<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
  <POU Name="Temp_controller" Id="{4c2be164-6e65-4759-af6b-8990e1c679db}" SpecialFunc="None">
    <Declaration><![CDATA[FUNCTION_BLOCK Temp_controller
VAR_INPUT
	ENABLE:BOOL;
	AUTO_TUNE:BOOL;
	AUTO_TUNE_OUTPUT:REAL;
	//FILTER_ENABLE:BOOL;		
	TEMP_SV:REAL;
	TEMP_ACTUAL:REAL;
	
	TEMP_RATE:REAL;
	
	PID_P:REAL;
	PID_I:REAL;
	PID_D:REAL;
	PID_Dp:REAL;
	PID_Feedforward:REAL;
	PID_Output_Limit:REAL;
END_VAR
VAR_OUTPUT
	PID_AUTO_TUNE_P,
	PID_AUTO_TUNE_I,
	PID_AUTO_TUNE_D:REAL;
	PID_AUTO_TUNE_DONE:BOOL;
	SCR_OUT: REAL;
	SSR_ON:BOOL;
END_VAR
VAR
	SAMPLING_TIME:TIME:=T#1S;	//采样时间
	
	PID_NM : FB_CTRL_PID;
	PID_PARAMS:ST_CTRL_PID_PARAMS;
	PID_MODE:E_CTRL_MODE;
	PID_OUTPUT:LREAL;
	PID_FUC_STATE:E_CTRL_STATE;
	PID_ERRID:E_CTRL_ERRORCODES;
	PID_ERR:BOOL;
	PID_TASKTIME:TIME:=T#800MS;
	PID_CYCLETIME:TIME:=T#800MS;
	
	SSR_ON_PERCENT:REAL;
	
	TEMP_DATA_ARR : ARRAY[1..10] OF REAL;	//FIFO
	
	FIRST_RUN:R_TRIG;
	
	SAMPLING_TON1:TON;
	SAMPLING_TON2:TON;
	SAMPLING_TON1_EN:BOOL;
	SAMPLING_TON2_EN:BOOL;
	
	TEMP_AVERAGE:REAL;
	
	i: INT;
	
	SSR_ON_TIME:TIME;
	SSR_RESET_TIME:TIME;
	SSR_ON_TON:TON;
	SSR_RESET_TON:TON;
	SSR_ON_ENABLE:BOOL;
	SSR_RESET_ENABLE:BOOL;
	
	PID_AUTO_TUNE:PID_AutoTune;
	
	TON_FOR_RATE:TON;
	CACHE_TEMP_SV:REAL;
	TEMP_SV_TO_PID:REAL;
	EACH_STEP_TEMP:REAL;

END_VAR
]]></Declaration>
    <Implementation>
      <ST><![CDATA[//TEMP_RATE
EACH_STEP_TEMP:=TEMP_RATE/10;
IF TEMP_RATE=0 THEN 
	TEMP_SV_TO_PID:=TEMP_SV;
	ELSE
		IF ENABLE AND TON_FOR_RATE.IN=FALSE AND CACHE_TEMP_SV<TEMP_SV THEN
			TON_FOR_RATE.IN:=TRUE;
		END_IF			
		IF 	TON_FOR_RATE.Q THEN
			CACHE_TEMP_SV:=CACHE_TEMP_SV+EACH_STEP_TEMP;
			TON_FOR_RATE.IN:=FALSE;
		END_IF
			TON_FOR_RATE(IN:=, PT:= T#6S, Q=> , ET=> );
		IF CACHE_TEMP_SV<TEMP_SV THEN
			TEMP_SV_TO_PID:=CACHE_TEMP_SV;
		ELSE 
			TEMP_SV_TO_PID:=TEMP_SV;
		END_IF
END_IF

IF TEMP_RATE=0 OR NOT ENABLE THEN 
	CACHE_TEMP_SV:=0;
END_IF

IF (TEMP_RATE<>0) AND ENABLE AND (CACHE_TEMP_SV=0 OR CACHE_TEMP_SV>TEMP_SV) THEN 
	CACHE_TEMP_SV:=TEMP_AVERAGE+EACH_STEP_TEMP;
END_IF



//数组数据初始化
FIRST_RUN(CLK:=ENABLE,Q=> );
IF FIRST_RUN.Q
	THEN
	SAMPLING_TON1_EN:=TRUE;
	FOR i:=1  TO 10 BY 1
	DO
	TEMP_DATA_ARR[i] := TEMP_ACTUAL;
	END_FOR;
END_IF;

//产生采样脉冲
SAMPLING_TON1(IN:=SAMPLING_TON1_EN , PT:=SAMPLING_TIME , Q=> , ET=> );
IF SAMPLING_TON1.Q 
	THEN
	SAMPLING_TON1_EN:=0;
	SAMPLING_TON2_EN:=1;
END_IF;
SAMPLING_TON2(IN:=SAMPLING_TON2_EN , PT:=SAMPLING_TIME , Q=> , ET=> );
IF SAMPLING_TON2.Q 
	THEN 
	SAMPLING_TON1_EN:=1;
	SAMPLING_TON2_EN:=0;
END_IF;

//数组右移一位
IF SAMPLING_TON1.Q OR SAMPLING_TON2.Q		
	THEN 
	TEMP_DATA_ARR[10]	:= 	TEMP_DATA_ARR[9];
	TEMP_DATA_ARR[9] 	:= 	TEMP_DATA_ARR[8];
	TEMP_DATA_ARR[8]	:= 	TEMP_DATA_ARR[7];
	TEMP_DATA_ARR[7] 	:= 	TEMP_DATA_ARR[6];
	TEMP_DATA_ARR[6] 	:=	TEMP_DATA_ARR[5];
	TEMP_DATA_ARR[5] 	:= 	TEMP_DATA_ARR[4];
	TEMP_DATA_ARR[4] 	:= 	TEMP_DATA_ARR[3];
	TEMP_DATA_ARR[3] 	:= 	TEMP_DATA_ARR[2];
	TEMP_DATA_ARR[2] 	:= 	TEMP_DATA_ARR[1];
	TEMP_DATA_ARR[1] 	:= 	TEMP_ACTUAL;
END_IF

//取平均数，前两个数据权重为0.5，中间4位权重为0.3，最后4位权重为0.2。原则上，时间越久，权重越小
	TEMP_AVERAGE:=0.5*(TEMP_DATA_ARR[1]+TEMP_DATA_ARR[2])/2
				 +0.3*(TEMP_DATA_ARR[3]+TEMP_DATA_ARR[4]+TEMP_DATA_ARR[5]+TEMP_DATA_ARR[6])/4
				 +0.2*(TEMP_DATA_ARR[7]+TEMP_DATA_ARR[8]+TEMP_DATA_ARR[9]+TEMP_DATA_ARR[10])/4;

	IF 	AUTO_TUNE
		THEN			 
			PID_MODE:=0;
		ELSE
			PID_MODE:=2;
	END_IF;

	PID_AUTO_TUNE(
		PV:= TEMP_ACTUAL, 
		AutoTuneActive:= AUTO_TUNE, 
		StepResponseAmplitude:=AUTO_TUNE_OUTPUT,
		Output=> 	, 
		Kp=> 		PID_AUTO_TUNE_P, 
		Ki=> 		PID_AUTO_TUNE_I, 
		Kd=> 		PID_AUTO_TUNE_D, 
		Done=> 		PID_AUTO_TUNE_DONE);
		
//*******PID的背景数据块							G(S)=Kp[1+1/Tn+Tv/(1+Td)]
	PID_PARAMS.tTaskCycleTime		:=T#10MS;			//任务周期
	PID_PARAMS.tCtrlCycleTime		:=T#500MS;			//控制循环时间
	PID_PARAMS.fKp					:=PID_P;			//P
	PID_PARAMS.tTn					:=REAL_TO_TIME(PID_I);			//I
	PID_PARAMS.tTv					:=REAL_TO_TIME(PID_D);			//D
	PID_PARAMS.tTd					:=REAL_TO_TIME(PID_Dp);			//DAMP阻尼时间
	PID_PARAMS.fOutMaxLimit			:=100;				//输出上限
	PID_PARAMS.fOutMinLimit			:=0;				//输出下限
	PID_PARAMS.bPInTheFeedbackPath	:=FALSE;			//P有效
	PID_PARAMS.bDInTheFeedbackPath	:=FALSE;			//D有效
	PID_PARAMS.bARWOnIPartOnly		:=FALSE;			//I有效

//PID函数
	PID_NM(
		fSetpointValue:= TEMP_SV_TO_PID, 						//设定值
		fActualValue:= TEMP_AVERAGE, 					//实际值
		fManSyncValue:= , 								//操作值
		bSync:= , 										//上升沿时，操作值有效
		eMode:= PID_MODE, 								//函数的运行模式，0:空闲,1:PASSIVE,2:ACTIVE,3:RESET,4:MANUAL,5:AUTO,6:SELF-TUNING,7:SYNC同步模式
		bHold:= , 										//TRUE时，保持当前的内部状态
		fOut=> PID_OUTPUT, 								//输出值
		bARWactive=> , 									//TRUE时，表示PID输出值被限制
		eState=> PID_FUC_STATE, 						//函数状态
		eErrorId=> PID_ERRID, 							//ERR代码
		bError=> PID_ERR, 								//PID发生错误
		stParams:=PID_PARAMS );
		
	IF AUTO_TUNE 
		THEN 
		SSR_ON_PERCENT:=PID_AUTO_TUNE.Output+PID_Feedforward;		
		ELSE
		SSR_ON_PERCENT:=LREAL_TO_REAL(PID_OUTPUT+PID_Feedforward);
	END_IF
	
	IF SSR_ON_PERCENT>PID_Output_Limit AND ENABLE
		THEN 
		SSR_ON_PERCENT:=PID_Output_Limit;
	END_IF	
	IF SSR_ON_PERCENT<0 OR NOT ENABLE
		THEN 
		SSR_ON_PERCENT:=0;
	END_IF	

	SCR_OUT:=SSR_ON_PERCENT;
	
//*******PWM脉冲输出生成	
	
	SSR_ON_TIME:=REAL_TO_TIME(SSR_ON_PERCENT*10);									//输出脉冲ON宽度
	SSR_RESET_TIME:=REAL_TO_TIME((100-SSR_ON_PERCENT)*10);							//输出脉冲总宽度
	SSR_ON_TON(IN:= SSR_ON_ENABLE, PT:= SSR_ON_TIME, Q=> , ET=> );					//输出脉冲计时
	IF SSR_ON_TON.Q 																//输出脉冲计时器使能在计时器下方ON，实现上升脉冲；同时复位计时器使能OFF
		THEN 
		SSR_RESET_ENABLE:=TRUE;
	END_IF
	IF NOT (SSR_ON_ENABLE OR SSR_RESET_ENABLE)										//首次cycle触发输出脉冲使能
		THEN
		SSR_ON_ENABLE:=TRUE;
	END_IF
	SSR_RESET_TON(IN:= SSR_RESET_ENABLE, PT:= SSR_RESET_TIME, Q=> , ET=> );
	IF SSR_RESET_TON.Q 
		THEN 
		SSR_ON_ENABLE:=FALSE;
		SSR_RESET_ENABLE:=FALSE;
		SSR_ON:=FALSE;																//输出脉冲计时器使能OFF
	END_IF
	IF SSR_ON_PERCENT>0
		THEN 
		SSR_ON:=NOT SSR_ON_TON.Q;
	END_IF
	]]></ST>
    </Implementation>
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