Structure definitions

ST_ControllerParameter

TYPE ST_CTRL_TempCtrlParameter:
STRUCT

  (* general parameters *)
  iMode                     : E_CTRL_ControlMode;
  iReactionOnFailure        : E_CTRL_ReactionOnFailure;
  bSelCtrlParameterSet      : BOOL;
  dwAlarmSupp               : DWORD;
  tCtrlCycleTime            : TIME;
  tTaskCycleTime            : TIME; 

  (* tuning parameteer *)
  iTuningMode               : E_CTRL_TuneMode;
  tTuneStabilisation        : TIME       := T#20S;
  fEndTunePercentHeating    : LREAL      := 80.0;
  fYTuneHeating             : LREAL;
  fYStableHeating           : LREAL;
  fEndTunePercentCooling    : LREAL      := 20.0;
  fYTuneCooling             : LREAL;
  fYStableCooling           : LREAL;
  fScalingFactor            : LREAL      := 1.0; 

  (* setpoint parameters *)
  fWMin                     : LREAL;
  fWMax                     : LREAL;

  (* start up *)
  bEnableSoftStart          : BOOL;
  bEnableRamping            : BOOL;
  fWStartUp                 : LREAL;
  tStartUp                  : TIME;
  bStartUpRamping           : BOOL;
  fWStartUpVeloPos          : LREAL;
  fWStartUpVeloNeg          : LREAL;
  fWVeloPos                 : LREAL;
  fWVeloNeg                 : LREAL;

  (* actual value parameters *)
  bFilter                   : BOOL;
  tFilter                   : TIME;

  (* deadband parameters *)
  bDeadband                 : BOOL;
  fEDeadband                : LREAL;

  (* control value parameters *)
  fYMin                     : LREAL;
  fYMax                     : LREAL;
  fYManual                  : LREAL;
  fYOnFailure               : LREAL;
  tPWMCycleTime             : TIME;
  tPWMMinOffTime            : TIME;
  tPWMMinOnTime             : TIME;
  tPWMWaitingTime           : TIME;
  fYThresholdOff            : LREAL;
  fYThresholdOn             : LREAL;
  nCyclesForSwitchOver      : INT        := 100;

  (* controller settings *)
  bEnablePreController      : BOOL;
  bEnableZones              : BOOL;
  bEnableCVFilter           : BOOL;
  iFilterType               : E_CTRL_FilterType;
  iControllerType           : E_CTRL_ControllerType;

  (* min max temperatures *)
  TempLow                   : LREAL;
  TempLowLow                : LREAL;
  TempHigh                  : LREAL;
  TempHighHigh              : LREAL;
  TempAbsoluteHigh          : LREAL;
  TempAbsoluteLow           : LREAL;

  (* internal tuning parameters *)
  fTuneKp                   : LREAL     := 1.2;
  fTuneTn                   : LREAL     := 2.0;
  fTuneTv                   : LREAL     := 0.42;
  fTuneTd                   : LREAL     := 0.25;
END_STRUCT
END_TYPE

Name

Unit

Value range

Description

General parameters

 

 

 

iMode

none

INT

Controller operation mode (1 = heating, 2 = cooling, 3 = heating & cooling) (see below)

iReactionOnFailure

none

INT

Parameterizable reaction to errors (see below)

bSelCtrlParameterSet

none

BOOL

TRUE = external parameter set, FALSE = internal parameter set (determined by tuning)

dwAlarmSupp

none

DWORD

Masks out the alarms (see below)

tCtrlCycleTime

s

TIME

Controller's sampling time. In the course of the sampling time the controller re-calculates the control value.

tTaskCycleTime

s

TIME

Task cycle time. The FB is called with this time interval.

Tuning parameters

 

 

 

iTuningMode

K

E_CTRL_TuneMode

Determination of the tuning sequence (see below.)

tTune stabilization

s

TIME

Waiting time until the section is stable for tuning.

fEndTunePercentHeating

%

LREAL

Percentage value of setpoint, from which the system switches to Closed Loop Control.

fYTuneCooling

K

LREAL

Step change in control value during tuning.

fYStableCooling

K

LREAL

Control value when switching to tuning during cooling.

fScalingFactor

none

LREAL

Scaling factor for parameter switching if no tuning is performed for cooling.

Setpoint parameters

 

 

 

fWMin

K

LREAL

Minimum setpoint

fWMax

K

LREAL

Maximum setpoint

bEnableSoftStart

none

BOOL

FALSE = no soft start, TRUE = soft start

bEnableRamping

none

BOOL

FALSE = no ramping, TRUE = ramping

fWStartUp

K

LREAL

Setpoint at start-up

tStartUp

s

TIME

Time with the fWStartUp setpoint

bStartUpRamping

none

[TRUE,FALSE]

Switches on ramping during the start-up phase.

fWStartUpVeloPos

K/s

LREAL

Rate of rise (of ramp) during the start-up phase

fWStartUpVeloNeg

K/s

LREAL

Rate of fall (of ramp) during the start-up phase

fWVeloPos

K/s

LREAL

Rate of rise (of ramp)

fWVeloNeg

K/s

LREAL

Rate of fall (of ramp).

Actual value parameters

 

 

 

tFilter

s

TIME

Time constant of the actual value filter (first order P-T1 filter)

bFilter

none

[TRUE,FALSE]

The actual value filter is actuated if TRUE.

Deadband parameters

 

 

 

bDeadband

none

[TRUE,FALSE]

TRUE = deadband on, FALSE = deadband off

fEDeadband

K

LREAL

Deadband in degrees

Control value parameters

 

 

 

fYMin

none

LREAL

Minimum value of the control value

fYMax

none

LREAL

Maximum value of the control value

fYManual

none

LREAL

Control value in manual operation

fYOnFailure

none

LREAL

Control value in case of error (parameterizable)

tPWMCycleTime

s

TIME

Cycle time of the PWM signal

tPWMMinOffTime

s

TIME

PWM: minimum switch-off time

tPWMMinOnTime

s

TIME

PWM: minimum switch-on time

tPWMWaitingTime

s

TIME

PWM: Waiting time when switching from heating to cooling

fYThresholdOff

%

LREAL

3-point: Switch-off threshold

fYThresholdOn

%

LREAL

3-point: Switch-on threshold

nCyclesForSwitchOver

none

INT

Number of cycles for transition from one parameter set to another

Controller parameters

 

 

 

bEnablePreController

none

[TRUE,FALSE]

Switches pre-controller on.

bEnableZones

none

[TRUE,FALSE]

Switches open loop characteristic on until close to setpoint.

bEnableCVFilter

none

[TRUE,FALSE]

Switches on control value filter following the main controller.

iFilterType

none

ENUM

Selection of a filter type for the control value filter following the main controller (see below).

iControllerType

none

ENUM

Selection of a control algorithm (see below).

Alarming parameters

 

 

 

TempLow

K

LREAL

Relative lower temperature limit in the first band

TempLowLow

K

LREAL

Relative lower temperature limit in the second band

TempHigh

K

LREAL

Relative upper temperature limit in the first band

TempHighHigh

K

LREAL

Relative upper temperature limit in the second band

TempAbsoluteHigh

K

LREAL

Absolute upper temperature limit

TempAbsoluteLow

K

LREAL

Absolute lower temperature limit

Expert parameters

 

 

 

fTuneKp

none

LREAL

FineTuning parameters for the PID controller (only for advanced users)

fTuneTn

none

LREAL

FineTuning parameters for the PID controller (only for advanced users)

fTuneTv

none

LREAL

FineTuning parameters for the PID controller (only for advanced users)

fTuneTd

none

LREAL

FineTuning parameters for the PID controller (only for advanced users)

ST_CTRL_ParaController

TYPE ST_CTRL_ParaController :
STRUCT
  (* Controller parameter set - heating *)
  KpHeat    : FLOAT;
  TnHeat    : TIME;
  TvHeat    : TIME;
  TdHeat    : TIME;
  (* Controller parameter set - cooling *)
  KpCool    : FLOAT;
  TnCool    : TIME;
  TvCool    : TIME;
  TdCool    : TIME;
END_STRUCT
END_TYPE

Name

Unit

Value range

Description

KpHeat

none

LREAL

Gain factor for the main controller

TnHeat

s

TIME

Integral action time for main controller (I component)

TvHeat

s

TIME

Derivative action time for main controller (D component)

TdHeat

s

TIME

Damping time for the main controller

KpCool

none

LREAL

Gain factor for the main controller

TnCool

s

TIME

Integral action time for main controller (I component)

TvCool

s

TIME

Derivative action time for main controller (D component)

TdCool

s

TIME

Damping time for the main controller

ENUM: E_CTRL_ERRORCODES

See documentation of the TwinCAT controller toolbox.

ENUM: E_CTRL_ReactionOnFailure

Name

Description

eCTRL_ReactionOnFailure_NoFailure

No error

eCTRL_ReactionOnFailure_StopController

If there is an error (an alarm) the controller will stop.

eCTRL_ReactionOnFailure_SetManMode

If there is an error (an alarm) the controller will switch to manual operation.

eCTRL_ReactionOnFailure_SetYMax

If there is an error (an alarm) set the control value to its maximum.

eCTRL_ReactionOnFailure_SetYMin

If there is an error (an alarm) set the control value to its minimum.

eCTRL_ReactionOnFailure_SetYMean

If error (alarm), set control value to average value (in preparation).

ENUM: E_CTRL_ControllerStateInternal

Name

Description

E_CTRL_ControllerStateInternalHeating

internal

E_CTRL_ControllerStateInternalCooling

internal

ENUM: E_CTRL_ControlMode

Name

Description

eCTRL_ControlMode_HEATING

Heating only

eCTRL_ControlMode_COOLING

Cooling only

eCTRL_ControlMode_HEATING_COOLING

Heating and cooling

ENUM: E_CTRL_STATE

See documentation of the TwinCAT controller toolbox.

ENUM: E_CTRL_STATE_TUNIG

Name

Description

eCTRL_STATE_TUNING_INIT

Tuning: Initialization

eCTRL_STATE_TUNING_IDLE

Tuning: Waiting for stable input signal (control variable)

eCTRL_STATE_TUNING_PULSE

Tuning: Excitation through short pulse (in preparation)

eCTRL_STATE_TUNING_STEP

Tuning: Excitation through step change (inflectional tangent method)

eCTRL_STATE_TUNING_READY

Tuning: Determining the parameters, finalization

eCTRL_STATE_TUNING_ERROR

Tuning: Error during tuning

ENUM: E_CTRL_TuneMode

Name

Description

eCTRL_TuneMode_HEATING

Tuning: heating only

eCTRL_TuneMode_COOLING

Tuning: cooling only

eCTRL_TuneMode_HEATING_COOLING

Tuning: first heating, then cooling

eCTRL_TuneMode_COOLING_HEATING

Tuning: first cooling, then heating

eCTRL_TuneMode_OSCILLATION

Tuning: on-the-fly parameter estimation through vibration excitation (in preparation)

ENUM: E_CTRL_FilterType

Name

Description

eCTRL_FilterType_FIRSTORDER

First order filter

eCTRL_FilterType_AVERAGE

Mean value filter

ENUM: E_CTRL_ControllerType

Name

Description

eCTRL_ControllerType_PID

Standard PID control algorithm

eCTRL_ControllerType_PI

Standard PI control algorithm

eCTRL_ControllerType_PID_Pre

Standard PID control algorithm with pre-controller (in preparation)

eCTRL_ControllerType_PIDD2

Serial PID control algorithm (in preparation)

Bit-masks for alarms

Name

Mask

Description

nAlarmOpen
Thermocouple

2#0000_0000_0000_0000_0000_0000_0000_0001

Hardware: open temperature sensor

nAlarmReverse
Thermocouple

2#0000_0000_0000_0000_0000_0000_0000_0010

Hardware: reverse connected temperature sensor

nAlarmBackVoltage

2#0000_0000_0000_0000_0000_0000_0000_0100

Hardware: excessive voltage at temperature sensor

nAlarmLeakage
Current

2#0000_0000_0000_0000_0000_0000_0000_1000

Hardware: leakage current measured

nAlarmShortCircuit

2#0000_0000_0000_0000_0000_0000_0001_0000

Hardware: Short circuit

nAlarmOpenCircuit

2#0000_0000_0000_0000_0000_0000_0010_0000

Hardware: no current

nAlarmLimitLow

2#0000_0000_0000_0000_0000_0001_0000_0000

Software: fallen below first lower relative temperature

nAlarmLimitLowLow

2#0000_0000_0000_0000_0000_0010_0000_0000

Software: fallen below second lower relative temperature

nAlarmLimitHigh

2#0000_0000_0000_0000_0000_0100_0000_0000

Software: first upper relative temperature exceeded

nAlarmLimitHighHigh

2#0000_0000_0000_0000_0000_1000_0000_0000

Software: second upper relative temperature exceeded

nAlarmAbsoluteHigh

2#0000_0000_0000_0000_0001_0000_0000_0000

Software: upper absolute temperature exceeded

nAlarmAbsoluteLow

2#0000_0000_0000_0000_0010_0000_0000_0000

Software: fallen below lower absolute temperature

Requirements

Development environment

Target platform

PLC libraries to include

TwinCAT 3.1.4016

PC or CX

Tc2_TempController