Неккоректная работа ПИД регулятора в ПЛК 150

[RZH]

код программы

PROGRAM PLC_PRG
VAR
(*configuration panel*)
    set_point_from_panel_1 AT %QD9.6.0 : REAL;
    set_point_from_panel_2 AT %QD9.7.0 : REAL;
    FIT_VR_value_1 AT %QD9.19.0:REAL;
    FIT_VR_value_2 AT %QD9.20.0:REAL;        (*ðåàëüíîå çíà÷åíèå ðàñõîäà*)
    button_for_sp AT %QX9.1.0.6: BOOL;
    hi_limit_error AT %QX9.2.0.4: BOOL;
    PID_manual AT %QX9.3.0.0: BOOL;        (*ðó÷íîé ðåæèì ðåãóëÿòîðà*)
    alarm AT %QX9.3.0.1: BOOL;
    status_system AT %QX9.3.0.2: BOOL;
    simulation AT %QX9.3.0.3: BOOL;
    level_lall AT %QX9.3.0.4: BOOL;
    level_lal AT %QX9.3.0.5: BOOL;
    level_lah AT %QX9.3.0.6: BOOL;
    level_lahh AT %QX9.3.0.7: BOOL;
    battery_low AT %QX9.4.0.2: BOOL;
    emergency_system AT %QX9.4.0.3: BOOL;
    temp_plc150_owen AT %QD9.23.0 : REAL;
    time_accum AT %QW9.24.0: WORD;
(*configuration panel*)



    P1_PID:PID;
    P2_PID:PID;
    kP : REAL;
    kI : REAL;
    kD : REAL;

    (* AT %QX9.17.0.7: BOOL;        (*ðó÷íîé ðåæèì ðåãóëÿòîðà*)*)
    sp_flow1_for_PID: REAL;       (*óñòàâêà íà ã/ë*)
    sp_flow2_for_PID: REAL;       (*óñòàâêà íà ã/ë*)
    unit_1: REAL;
    unit_2: REAL;
    block_system: BOOL;

    regulation: BOOL;


END_VAR

VAR_INPUT

    P1_Flow_SP:REAL;
    P2_Flow_SP:REAL;
(*configuration panel*)
    k_P AT %QD9.12.0:REAL;
    k_I AT %QD9.13.0:REAL;
    k_D AT %QD9.14.0:REAL;
    KH2SO4 AT %QD9.15.0:REAL;     (*êîýôôèöåíò ïëîòíîñòè êèñëîòû*)
    FIT_acida_PID AT %QD9.17.0:REAL;
    FIT_acidb_PID AT %QD9.18.0:REAL;
(*configuration panel*)

(*discret input PLC*)
    start_system AT %IX0.0: BOOL;
    stop_system AT %IX0.1: BOOL;
    manual_system AT %IX0.2: BOOL;
    auto_system AT %IX0.3: BOOL;
    emergency_stop AT %IX0.4: BOOL;
(*discret input PLC*)
    FIT_1 AT %ID10.2.0.0: REAL;
    FIT_2 AT %ID10.2.1.0: REAL;
    timer_turn: BOOL;
    PV_FI_1_panel: REAL;        (*çíà÷åíèå òåêóùåãî ðàñõîäà êèñëîòû*)
    PV_FI_2_panel: REAL;        (*çíà÷åíèå òåêóùåãî ðàñõîäà êèñëîòû*)
    FIT_VR_1 AT %ID10.2.2.0:REAL;   (*ðàñõîä ÂÐ*)
    FIT_VR_2 AT %ID10.2.3.0:REAL;   (*ðàñõîä ÂÐ*)
END_VAR

VAR_OUTPUT
(*configuration panel*)
    fithics_vallue_Hz_1 AT %QD9.8.0:REAL;
    fithics_vallue_Hz_2 AT %QD9.9.0:REAL;
(*configuration panel*)
(*discret output PLC*)

    status_system_start_stop AT %QX1.1: BOOL;
    alarm_system AT %QX1.2: BOOL;



(*discret output PLC*)

    P_01 AT %QD7.0: REAL;
    P_02 AT %QD8.0: REAL;
    statistic_power AT %IW11.1: WORD;
    Temp_inside_PLC AT %ID11.2: REAL;
END_VAR

VAR_INPUT RETAIN
(*configuration panel*)
    HI_LIM AT %QD9.16.0: REAL;        (*âåðõíèé ïðèäåë øêàëû äëÿ ðàñõîäåìåðà êèñëîòû*)
       HI_LIM_VR AT %QD9.21.0:REAL;(*LO_LIM AT %QD9.10.0: REAL;*)        (*íèæíèé ïðèäåë øêàëû ðàñõîäåìåðà*)
(*configuration panel*)
END_VAR 

(*ìàñøòàáèðîâàíèå àíàëîãîâûõ ñèãíàëîâ m3/h*)

scale_1(
    IN:=FIT_1 , (*ðàñõîä êèñëîòû*)
    IN_MIN:= 0.0,
    IN_MAX:= 100,
    OUT_MIN:= 0,
    OUT_MAX:= HI_LIM,          (*HI_LIM*)
    OUT=>FIT_acida_PID ,
    ERROR=>error_fit1 );(**)
IF error_fit1 THEN(*îáíóëåíèå ñèãíàëà ïðè àâòî ðåæèìå. Åñëè îòñóòñòâóåò ñèãíàë ðàñõîäà êèñëîòû, òî íàñîñû íå áóäåò ðàáîòàòü*)
FIT_acida_PID:=0.0;
END_IF;

scale_3(
    IN:= FIT_VR_1, (*ðàñõîä ÂÐ*)
    IN_MIN:= 0.0,
    IN_MAX:= 100.1,
    OUT_MIN:= 0,
    OUT_MAX:= HI_LIM_VR,   (*HI_LIM_VR*)
    OUT=> FIT_VR_value_1,
    ERROR=> error_fi_vr1);(**)
IF error_fi_vr1 THEN
FIT_VR_value_1:=0.0;
END_IF;

IF HI_LIM=0.0 OR HI_LIM_VR=0.0(*ïàðàìåòðèðîâàíèå â ïàíåëè ìàêñ. çíà÷åíèå ðàñõîäîâ*)
THEN
hi_limit_error:=TRUE;
ELSE
hi_limit_error:=FALSE;
END_IF;

IF button_for_sp THEN                                   (*ïåðåêëþ÷åíèå ïî ðåæèìàì ðåãóëèðîâàíèÿ*)
P1_Flow_SP:=sp_flow1_for_PID;
P2_Flow_SP:=sp_flow2_for_PID;
ELSE
(*óñòàâêà äëÿ ðåãóëèðîâàíèå*)
P1_Flow_SP:= FIT_VR_value_1*sp_flow1_for_PID/(0.925*koef);  (*ôîðìóëà äëÿ âû÷åñëåíèÿ ðàñõîäà êèñëîòû ë/÷*)
P2_Flow_SP:= FIT_VR_value_2*sp_flow2_for_PID/(0.925*koef);  (*óñòàâêà äëÿ ðåãóëèðîâàíèå*)
END_IF;

(*ïåðåìåííûå äëÿ íàñîñîâ+ðåãó*)
P1_01:=P_01;
P2_02:=P_02;
(*ÏÈÄ-ðåãóëèðîâàíèÿ äëÿ íàñîñà P1*)
P1_PID(
    ACTUAL:=  FIT_acida_PID, (*__FIT_acida_PID,--->íàäî çàìåíèòü ïîñëå ñèìóëÿöèè*)
    SET_POINT:= P1_Flow_SP,
    KP:= P1_P_SP,
    TN:= P1_I_SP,
    TV:= P1_D_SP,
    Y_MANUAL:=P1_Man_Spd_SP,
    Y_OFFSET:= 0.0,
    Y_MIN:=0.0,
    Y_MAX:= 10.0,
    MANUAL:=PID_manual,
    RESET:= ,
    Y=> P_01,
    LIMITS_ACTIVE=> ,
    OVERFLOW=> );

(*ÏÈÄ-ðåãóëèðîâàíèÿ äëÿ íàñîñà P2*)
P2_PID(
    ACTUAL:= FIT_acidb_PID,
    SET_POINT:= P2_Flow_SP,
    KP:= P1_P_SP,
    TN:= P1_I_SP,
    TV:= P1_D_SP,
    Y_MANUAL:=P2_Man_Spd_SP,
    Y_OFFSET:=0.0 ,
    Y_MIN:=0.0,
    Y_MAX:= 10.0,
    MANUAL:=PID_manual,
    RESET:= ,
    Y=> P_02,
    LIMITS_ACTIVE=> ,
    OVERFLOW=> ); 

pid1.jpg
pid2.jpg