PIDGS – PID controller with gain scheduling

Block SymbolLicensing group: ADVANCED

Function Description
The functionality of the PIDGS block is completely equivalent to the PIDU block. The only difference is that the PIDGS block has a at most six sets of basic PID controller parameters and allow bumpless switching of these sets by the ip (parameter set index) or vp inputs. In the latter case it is necessary to set $GSCF = on$ and provide an array of threshold values thsha. The following rules define the active parameter set: the set 0 is active for $vp < thrsha (0)$ , the set 1 for $thrsha (0) < vp < thrsha (1)$ etc. till the set 5 for $thrsha (4) < vp$ . The index of the active parameter set is available at the kp output.

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
ip	Parameter set index $↓$ 0 $↑$ 5	Long (I32)
vp	Switching analog signal	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
kp	Active parameter set index	Long (I32)

Parameters

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)
nmax	Reserved number of controller parameter sets $↓$ 4 $↑$ 10000 $⊙$ 10	Long (I32)
GSCF	Switch parameters by analog signal vp	Bool
	off .. Index-based switching on ... Analog signal based switching
hys	Hysteresis for controller parameters switching	Double (F64)
irtypea	Vector of controller types (control laws) $⊙$ [6 6 6 6 6 6]	Byte (U8)
	1 .... D 2 .... I 3 .... ID 4 .... P 5 .... PD 6 .... PI 7 .... PID
RACTA	Vector of reverse action flags $⊙$ [0 0 0 0 0 0]	Bool
	0 .... Higher mv $\to$ higher pv 1 .... Higher mv $\to$ lower pv
ka	Vector of controller gains $K$ $⊙$ [1.0 1.0 1.0 1.0 1.0 1.0]	Double (F64)
tia	Vector of integral time constants $T_{i}$ $⊙$ [4.0 4.0 4.0 4.0 4.0 4.0]	Double (F64)
tda	Vector of derivative time constants $T_{d}$ $⊙$ [1.0 1.0 1.0 1.0 1.0 1.0]	Double (F64)
nda	Vector of derivative filtering parameters $N$ $⊙$ [10.0 10.0 10.0 10.0 10.0 10.0]	Double (F64)
ba	Setpoint weighting factors – proportional part $⊙$ [1.0 1.0 1.0 1.0 1.0 1.0]	Double (F64)
ca	Setpoint weighting factors – derivative part $⊙$ [0.0 0.0 0.0 0.0 0.0 0.0]	Double (F64)
tta	Vector of tracking time constants $⊙$ [1.0 1.0 1.0 1.0 1.0 1.0]	Double (F64)
thrsha	Vector of thresholds for switching the parameters $⊙$ [0.1 0.2 0.3 0.4 0.5 0]	Double (F64)

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