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QCPU的PID指令用ST語言做成功能塊使用, 有興趣的請參考, 下方程序是2個LOOP例子。
1. 做成2個功能塊,一個是PID_Initial, 另一個是PID_Control
2. PID_Initial 只要執行一次, PID_Control每一個LOOP執行一次。
3. PID_Initial 程序
    DB_PID_2.Loops_Number:=2;
    DB_PID_2.Loops_Execute:=1;
    SD794:=HFFFF;    SD795:=HFFFF;    (* No Limit *)    
    DB_PID_2.Loop1_Operation:=1;            (* 1=Reverse *)
    DB_PID_2.Loop1_Ts:=10;            (* Cycle Time *10ms *)
    DB_PID_2.Loop1_Kp:=100;            (* *0.01 *)
    DB_PID_2.Loop1_Ti:=100;            (* *0.1s *)
    DB_PID_2.Loop1_Td:=100;            (* *10ms *)
    DB_PID_2.Loop1_Filter:=10;
    DB_PID_2.Loop1_MVLL:=-32767;
    DB_PID_2.Loop1_MVHL:=32767;
    DB_PID_2.Loop1_DMVL:=100;
    DB_PID_2.Loop1_DPVL:=100;
    DB_PID_2.Loop1_sys1:=0;
    DB_PID_2.Loop1_Kd:=800;            (* *0.01 *)
    DB_PID_2.Loop1_sys2:=0;
    DB_PID_2.Loop1_sys3:=0;
    BMOV( 1 , DB_PID_2.Loop1_Operation , 14 , DB_PID_2.Loop2_Operation );
    S_PIDINIT( 1 , DB_PID_2.Loops_Number );
    DB_PID_2.Loop1_SV:=0;
    DB_PID_2.Loop1_PV:=0;
    DB_PID_2.Loop1_MVman:=0;
    DB_PID_2.Loop1_Auto:=0;
    DB_PID_2.Loop1_Alarm:=0;
    DB_PID_2.Loop2_SV:=0;
    DB_PID_2.Loop2_PV:=0;
    DB_PID_2.Loop2_MVman:=0;
    DB_PID_2.Loop2_Auto:=0;
    DB_PID_2.Loop2_Alarm:=0;

4. PID_Control程序
nAuto:=0;
IF Auto_Man THEN nAuto:=1; END_IF;
CASE Loop_Num OF
    1:
        DB_PID_2.Loop1_SV:=SV;
        DB_PID_2.Loop1_PV:=PV;
        DB_PID_2.Loop1_MVman:=MV_Man;
        DB_PID_2.Loop1_Auto:=nAuto;
        MV:=DB_PID_2.Loop1_MV;
    2:
        DB_PID_2.Loop2_SV:=SV;
        DB_PID_2.Loop2_PV:=PV;
        DB_PID_2.Loop2_MVman:=MV_Man;
        DB_PID_2.Loop2_Auto:=nAuto;
        MV:=DB_PID_2.Loop2_MV;
END_CASE;

我整理一下,再發出來。