FB_CTRL_TuTg
The function block provides a TuTg transfer element (a dead time delay element) in the functional diagram.
Transfer function:
VAR_INPUT
VAR_INPUT
fIn : FLOAT;
fManSyncValue : FLOAT;
bSync : BOOL;
eMode : E_CTRL_MODE;
bHold : BOOL;
END_VAR
fIn : Input value of the TuTg element.
fManSyncValue : Input value to which the TuTg element can be set, or that is issued at the output in manual mode.
bSync : A rising edge at this input sets the TuTg element to the value fManSyncValue.
eMode : Input that specifies the block's operating mode.
bHold : A TRUE at this input will hold the internal state (and therefore also the output) constant at its current value, independently of the input value.
VAR_OUTPUT
VAR_OUTPUT
fOut : FLOAT;
bSampleRateChanged : BOOL;
eState : E_CTRL_STATE;
eErrorId : E_CTRL_ERRORCODES;
bError : BOOL;
END_VAR
fOut : Output of the TuTg element.
bSmpleRateChanged : Output that indicates whether the block has internally reduced the sampling rate because of the array being used to delay the input signal not otherwise providing sufficient room.
eState : State of the function block.
eErrorId : Supplies the error number when the bError output is set.
bError : Becomes TRUE, as soon as an error occurs.
VAR_IN_OUT
VAR_IN_OUT
stParams : ST_CTRL_TuTg_PARAMS;
END_VAR
stParams : Parameter structure of the TuTg element. This consists of the following elements:
TYPE
ST_CTRL_TuTg_PARAMS :
STRUCT
tCtrlCycleTime : TIME := T#0ms; (* controller cycle
time [TIME] *)
tTaskCycleTime : TIME := T#0ms; (* task cycle time
[TIME] *)
fKp : FLOAT := 0; (* proportional gain
*)
tTu : TIME := T#0ms; (* dead time *)
tTg : TIME := T#0ms; (* delay time
*)END_STRUCT
END_TYPE
tCtrlCycleTime : Cycle time with which the control loop is processed. This must be greater than or equal to the TaskCycleTime. The function block uses this input value to calculate internally whether the state and the output values have to be updated in the current cycle.
tTaskCycleTime : Cycle time with which the function block is called. If the function block is called in every cycle this corresponds to the task cycle time of the calling task.
fKp : Controller amplification / transfer coefficient
tTu : Dead time
tTg : Time constant