PIDUI – PID controller unit with variable parameters

Block SymbolLicensing group: ADVANCED

Function Description
The functionality of the PIDUI block is completely equivalent to the PIDU block. The only difference is that the PID control algorithm parameters are defined by the input signals and therefore they can depend on the outputs of other blocks. This allows creation of special adaptive PID controllers.

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
k	Controller gain $K$	Double (F64)
ti	Integral time constant $T_{i}$	Double (F64)
td	Derivative time constant $T_{d}$	Double (F64)
nd	Derivative filtering parameter $N$	Double (F64)
b	Setpoint weighting – proportional part	Double (F64)
c	Setpoint weighting – derivative part	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

Parameters

irtype	Controller type (control law) $⊙$ 6	Long (I32)
	1 .... D 2 .... I 3 .... ID 4 .... P 5 .... PD 6 .... PI 7 .... PID
RACT	Reverse action flag	Bool
	off .. Higher mv $\to$ higher pv on ... Higher mv $\to$ lower pv
tt	Tracking time constant $⊙$ 1.0	Double (F64)
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)

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