CtrlPidParallel (FB)

FUNCTION_BLOCK CtrlPidParallel EXTENDS AbbLConC3

This function block performs as a PID Controller with parallel control algorithm and differential filter function.

Transfer Function = U(s) / E(s) = Kp + (1 / Ti * s) + Td * s / (1 + Td/Kd * s)

InOut:

Scope	Name	Type	Initial	Comment
Input	Sp	REAL	0	2: Set Point of PID controller
	Pv	REAL	0	3: Process Variable of PID controller
	Kp	REAL	1	4: Propotional gain of PID controller
	Ti	REAL	20	5: Integral time for I factor of PID controller (Unit: Second), 10000>=Ti >= 0.1
	Td	REAL	10	6: Differential time for D factor of PID controller (Unit: Second), 10000>=Td>=0
	Kd	REAL	1	7: Differential Propotional gain for D factor of PID controller, Kd > 0, to avoid division by 0 error.
	FfOffset	REAL	0	8: Feed forward offset for Output Manipulated Variable Out
	Deadband	REAL	0	9: Dead band of Error Variable, DeadBand >= 0.
	ManualOn	BOOL	FALSE	10: Turn on manual mode to output manipulated variable manually
	OutManual	REAL	0	11: Manual value for the output Manipulated variable
	DirectAction	BOOL	FALSE	12: Direct Action mode selection for PID controller: FALSE- direct action (Ev = Sp-Pv), TRUE-reverse action( Ev := Pv- Sp)
	OutMax	REAL	100	13: Maximum limit of Output Manipulated Variable
	OutMin	REAL	-100	14: Minimum limit of Output Manipulated Variable
Output	ErrorID	ERROR_ID		3: Error identifier if an invalid value was applied to an input
	SpReached	BOOL	FALSE	4: Controlling state of the PID controller, SpReached=TRUE means process variable (Pv) reaches set point (Sp)
	Out	REAL	0	5: Output manipulated Variable, Output of the PID controller
	Ev	REAL	0	6: Error Variable of the set point and the process variable
	OutP	REAL	0	7: Proportional item of the Output manipulated variable
	OutI	REAL	0	8: Integral item of the Output manipulated variable
	OutD	REAL	0	9: Differential item of the Output manipulated variable
	MaxAlarm	BOOL	FALSE	10: Maximum alarm of the Output manipulated variable
	MinAlarm	BOOL	FALSE	11: Minimum alarm of the Output manipulated variable