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Commit dcb1b00d authored by Claes Sjofors's avatar Claes Sjofors
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bcomp IMC, division by 0 protection added, and fix for Accel in object graph

parent 1927c727
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Showing with 72 additions and 29 deletions
bcomp/lib/rt/src/rt_plc_bcomp.c
View file @ dcb1b00d
......@@ -134,6 +134,7 @@ void RunTimeCounterFo_exec( plc_sThread *tp,
o->OldReset = *o->ResetP;
}
/*_*
CompModePID_Fo
......@@ -567,6 +568,7 @@ void CompOnOffZoneFo_exec( plc_sThread *tp,
co->CycleCount = 0;
}
//---- modified v0.3-----------------------------------------------START--------
/*_*
PLC interface & calculus to discrete time Internal Model Controler component
......@@ -574,13 +576,17 @@ void CompOnOffZoneFo_exec( plc_sThread *tp,
@aref compimc
@aref compimc_fo CompImc_Fo
2015 - 12 - 19 Bruno: initial object.
2016 - 04 - 11 Bruno: cleaning.
2015 - 12 - 19 Bruno: initial object. v0.1
2016 - 04 - 11 Bruno: cleaning. v0.2
2017 - 04 - 14 Bruno: remove "division by zero" potential bugs v0.3
*/
#define Clamp(x, min, max) x = ((x)<(min)) ? (min) : (((x)>(max)) ? (max) : (x))
#define Normalize(x, y, xmin, xmax, ymin, ymax) y = (((((ymax)-(ymin))/((xmax)-(xmin)))*((x)-(xmin)))+(ymin))
#define Te tp->ActualScanTime
#define MAXCELLS 100
#define Clamp(x, min, max) x = ((x)<(min)) ? (min) : (((x)>(max)) ? (max) : (x))
//#define Normalize(x, y, xmin, xmax, ymin, ymax) y = (((((ymax)-(ymin))/((xmax)-(xmin)))*((x)-(xmin)))+(ymin)) // replaced by a function in v0.3
void CompIMC_Fo_init( pwr_sClass_CompIMC_Fo *plc_obj)
{
......@@ -590,7 +596,7 @@ void CompIMC_Fo_init( pwr_sClass_CompIMC_Fo *plc_obj)
if ( EVEN(sts))
plc_obj->PlcConnectP = 0;
}
void CompIMC_Fo_exec( plc_sThread *tp,
pwr_sClass_CompIMC_Fo *plc_obj)
......@@ -598,6 +604,11 @@ void CompIMC_Fo_exec( plc_sThread *tp,
pwr_sClass_CompIMC *plant_obj = (pwr_sClass_CompIMC *) plc_obj->PlcConnectP;
if ( !plant_obj) return;
pwr_tFloat32 man_OP, sig, yr, LSP, PV, nLSP, nPV, Tl1, Tl2;
void Normalize (pwr_tFloat32 x, pwr_tFloat32 *y, pwr_tFloat32 xmin, pwr_tFloat32 xmax, pwr_tFloat32 ymin, pwr_tFloat32 ymax) // v0.3
{
if((xmax-xmin)!=0.0) *y =(ymax-ymin)/(xmax-xmin)*(x-xmin)+ymin; else return;
}
void LagFilter(pwr_tInt16 n, pwr_tFloat32 Tlag)
{
......@@ -614,7 +625,8 @@ void CompIMC_Fo_exec( plc_sThread *tp,
pwr_tFloat32 kd = T2/Te;
pwr_tFloat32 ka = 1.0+kd;
pwr_tFloat32 kb = 1.0-kc;
if (ka<=0) return; // v0.3
Clamp (plant_obj->S[n+1], 0.0, 100.0);
plant_obj->S[n+1] =
kd/ka* plant_obj->S[n+1]
......@@ -630,7 +642,8 @@ void CompIMC_Fo_exec( plc_sThread *tp,
pwr_tFloat32 a1 = 2.0*(ksi*Te*w0P+1.0);
pwr_tFloat32 a2 = -1.0;
pwr_tFloat32 b0 = Te*Te*w0P*w0P;
if (a0<=0) return; // v0.3
Clamp (plant_obj->S[n+1], 0.0, 100.0);
plant_obj->uOutm2 = plant_obj->uOutm1;
plant_obj->uOutm1 = plant_obj->S[n+1];
......@@ -651,6 +664,7 @@ void CompIMC_Fo_exec( plc_sThread *tp,
pwr_tFloat32 a1 = w0*w0*(2.0*Tl1*Tl2+Te*(Tl1+Tl2));
pwr_tFloat32 a2 = -w0*w0*Tl1*Tl2;
if (a0<=0) return; // v0.3
Clamp (plant_obj->S[n+1], 0.0, 100.0);
plant_obj->Outm2 = plant_obj->Outm1;
plant_obj->Outm1 = plant_obj->S[n+1];
......@@ -706,16 +720,16 @@ void CompIMC_Fo_exec( plc_sThread *tp,
LSP=plant_obj->SP+plant_obj->Trim_SP; // Calculate working setpoint
Clamp (LSP, plant_obj->LL_SP, plant_obj->HL_SP); // Apply limits
Normalize(LSP,nLSP, plant_obj->LR_PV, plant_obj->HR_PV,0.0,100.0); // Normalize setpoint value
Normalize(LSP,&nLSP, plant_obj->LR_PV, plant_obj->HR_PV,0.0,100.0); // Normalize setpoint value // v0.3
PV = plant_obj->PV; // Copy from GUI
Normalize(PV,nPV, plant_obj->LR_PV, plant_obj->HR_PV,0.0,100.0); // Normalize process value
Normalize(PV,&nPV, plant_obj->LR_PV, plant_obj->HR_PV,0.0,100.0); // Normalize process value // v0.3
sig = (plant_obj->Inverse) ? nLSP - nPV : nPV - nLSP; // Error signal after direct/inverse Comparator
plant_obj->EP=-sig; // Calculate error value to display
if(!plant_obj->aut){ // Manage manual mode & reset all buffers
sig=0;
Normalize(*plc_obj->Man_OPP, man_OP, plant_obj->LR_OP, plant_obj->HR_OP, 0.0, 100.0);
Normalize(*plc_obj->Man_OPP, &man_OP, plant_obj->LR_OP, plant_obj->HR_OP, 0.0, 100.0); // v0.3
for (i=0; i<12; i++) plant_obj->S[i]=man_OP;
for (i=0; i<100; i++) plant_obj->D[i]=man_OP;
......@@ -729,7 +743,9 @@ void CompIMC_Fo_exec( plc_sThread *tp,
}
else{ // Calculate IMC controller
sig /= plant_obj->Gain; // Apply static gain
if (Te<=0) return; // v0.3
if (plant_obj->Accel<1.0) return; // v0.3
if (plant_obj->Gain>0.0) sig /= plant_obj->Gain; else return; // Apply static gain // v0.3
plant_obj->S[0] = sig+plant_obj->S[11]; // Add previous model's feedback
......@@ -757,7 +773,7 @@ void CompIMC_Fo_exec( plc_sThread *tp,
OP=plant_obj->S[6];
Clamp (OP, 0.0, 100.0); // Apply limits on model output
Normalize(OP,yr,0.0,100.0,plant_obj->LR_OP, plant_obj->HR_OP); // Denormalize output
Normalize(OP,&yr,0.0,100.0,plant_obj->LR_OP, plant_obj->HR_OP); // Denormalize output // v0.3
yr+=plant_obj->FF; // Add feedforward input value
Clamp (yr, plant_obj->LL_OP, plant_obj->HL_OP); // Apply limits to control signal
plc_obj->OP=plant_obj->OP = yr; // copy to GUI objects
......@@ -778,11 +794,13 @@ void CompIMC_Fo_exec( plc_sThread *tp,
Delay(10, plant_obj->DelayT);
// ----
}
}
//---- modified v0.3-----------------------------------------------END----
/*_*
PLC Mode interface to a discrete time Internal Model Controler component
......
bcomp/mmi/bcomp/src/pwr_c_compimc.pwg
View file @ dcb1b00d
......@@ -29,22 +29,22 @@
100 20
135 20
101 20
102 1
103 -21
104 2.73277
136 2.73277
102 58
103 78
104 2.75
136 2.75
105 100
106 0
107 -2
106 2
107 1
108 57
109 1
110 36.5428
111 0.499952
116 0
117 0
118 169
119 112
120 1
116 5
117 9
118 105
119 93
120 0
121 Claes context
122 0
126 0.5
......@@ -4465,7 +4465,7 @@ pwr_exe:
3000 0.63148
3001 0.23148
3002 0.696505
3003 0.146505
3003 0.246505
3008 0
3010 4
3011 2
......@@ -7622,6 +7622,10 @@ pwr_exe:
2305 $object.PV_MaxShow##Float32
2306 $local.TrendHold##Boolean
2307 $object.TrendTimeRange##Float32
2308
2309
2310 9999
2311 9999
99
99
99
......@@ -8152,6 +8156,10 @@ pwr_exe:
2305
2306 $local.TrendHold##Boolean
2307 $object.TrendTimeRange##Float32
2308
2309
2310 9999
2311 9999
99
99
99
......@@ -9025,6 +9033,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -9175,6 +9184,7 @@ pwr_exe:
1308
1309 0
1310 0
1311 0
99
99
99
......@@ -9325,6 +9335,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -10248,6 +10259,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -10312,11 +10324,11 @@ pwr_exe:
0
1006 12.6859
1007 7.35936
1008 13.1805
1008 13.1806
1009 12.0966
1013 12.6859
1014 7.35936
1015 13.1805
1015 13.1806
1016 12.0966
1003
0
......@@ -10380,7 +10392,7 @@ pwr_exe:
102 22
103 0
12
1200 $object.Gain##Float32
1200 $object.Accel##Float32
1201 %10.3f
1202 1
1203 1
......@@ -10398,6 +10410,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -10721,6 +10734,7 @@ pwr_exe:
1308
1309 0
1310 0
1311 0
99
99
99
......@@ -11084,6 +11098,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -11481,6 +11496,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -11844,6 +11860,7 @@ pwr_exe:
1308
1309 0
1310 0
1311 0
99
99
99
......@@ -12241,6 +12258,7 @@ pwr_exe:
1308
1309 0
1310 0
1311 0
99
99
99
......@@ -12638,6 +12656,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -13029,6 +13048,7 @@ pwr_exe:
1308
1309 0
1310 0
1311 0
99
99
99
......@@ -13426,6 +13446,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -14461,6 +14482,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -14611,6 +14633,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -14761,6 +14784,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......@@ -14911,6 +14935,7 @@ pwr_exe:
1308
1309 0
1310 2
1311 0
99
99
99
......
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