Toshiba PROSEC T3H user manual Floating point essential PID FPID3, Expression

2. Expanded Functions

2.4.3 Floating point essential PID (FPID3)

FUN 232

FPID3

Floating point essential PID

Expression

Input ─[ A+1⋅A FPID3 B+1⋅ B → C+1⋅ C ]─ Output

Function

Performs PID (Proportional, Integral, Derivative) control which is a fundamental method of feed-back control. (Pre-derivative real PID algorithm)

The operation of this FPID3 instruction is the same as the PID3 (FUN156) instruction except for dealing data as floating point data.

Execution condition

Input	Operation	Output
OFF	Initialization	OFF
ON	Execute PID every setting interval	ON when
		execution

Operand

Name

Device

Register

Con-

Index

X

Y

S

L

R

Z

T.

C.

I

O

X

Y

S

L

R

W

T

C

D

F

I

O

I

J

K

stant

W

W

W

W

W

W

W

A

Top of input

√

√

√

√

√

√

√

√

√

√

√

data

B

Top of

√

√

√

√

√

√

√

√

√

√

√

parameter

C

Top of

√

√

√

√

√

√

√

√

√

√

output data

Input data

B+1⋅B

Control parameter

C+1⋅C

Output data

A+1⋅A

Process input value

PVC

Proportional gain

KP

Manipulation value

MV

A-mode set value

ASV

Integral time

TI

Last error

en-1

C-mode set value

CSV

Derivative time

TD

Last derivative value

Dn-1

M-mode MV input

MMV

Dead-band

GP

Last PV

PVn-1

MV tracking input

TMV

A-mode initial SV

ISV

Last SV

SVn-1

Mode setting

MODE

Input filter constant

FT

Integral remainder

Ir

ASV differential limit

DSV

Derivative remainder

Dr

A-mode: Auto mode

MMV differential limit DMMV

Internal MV

MVn

Initial status

STS

Internal counter

C

C-mode: Cascade mode

MV upper limit

MH

Control interval

∆ t

M-mode: Manual mode

MV lower limit

ML

MV differential limit

DMV

Control interval setting

n

User’s Manual 51