CN109100934A - Analogue system generation method for pid parameter adjusting - Google Patents
Analogue system generation method for pid parameter adjusting Download PDFInfo
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- CN109100934A CN109100934A CN201810922762.5A CN201810922762A CN109100934A CN 109100934 A CN109100934 A CN 109100934A CN 201810922762 A CN201810922762 A CN 201810922762A CN 109100934 A CN109100934 A CN 109100934A
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- functional block
- pid
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention discloses a kind of analogue system generation methods for pid parameter adjusting comprising hardware configuration step；PLC programming step, in saving the block container under the S7 program generated after compiling by hardware configuration, it is replicated with FB100 functional block, newly have OB100 starting tissue block, OB35 cycle interruption tissue block, FC1 function and FC2 function, FB100 is for executing agency and controlled device in simulation control of PID, OB100 is used to carry out initial value design to FB41 and FB100, OB35 cycle interruption tissue block is used to carry out recursive call to FC1 and FC2 according to the preset period, FB41 is for realizing PID control, FC1 is adjusted for realizing single loop of the FB41 to FB100, FC2 is for realizing FB41 to the Cas PID regulation of FB100；Man-machine interface WINCC configuration step；Simulation process downloads program and runs emulation to generate analogue system in the S7-PLCSIM software integrated with STEP7.Through the above scheme, PID controller is better used for Field Force, quickly grasps PID Rule adjusting and provides convenience.
Description
Technical field
The invention belongs to metallurgical automation technology field, in particular to a kind of analogue system for pid parameter adjusting is raw
At method.
Background technique
PID (proportional-integral-differential) adjusting controller is most common controller in industrial process control system, extensively
Applied to the various control processes such as chemical industry, metallurgy, oil refining, papermaking and building materials.In Automation of Manufacturing Process, PID adjusting is
Application time longest, a kind of strongest control mode of vitality.It is shown according to related data, in the world current 90% or more process
Control system all uses the modified control method that PID is adjusted or adjusted based on PID.In PID controller in use, each control
The adjusting of parameter processed be it is vital, will affect the stabilization and performance superiority and inferiority of entire control system.Currently, there are many our companies
PID control (such as: heater control system, blast furnace blower control system, water system) is all used in automatic control system
Device, but the understanding of PID theoretical knowledge is more difficult, therefore Field Force feels extremely difficult to the parameters adjusting of PID controller.
The parameter tuning of PID controller is the important content of Design of Automatic Control System, is the characteristic according to controlled device
To determine proportionality coefficient, the time of integration and the derivative time of controller.The difficult point of PID control does not design program, control
The adjusting of device parameter.If parameter tuning is bad, even if programming is out of question, it also will affect the dynamic and static state performance of system, lead
Cause system is unable to stable operation.PID controller setting method has theoretical calculation tuning method and practical tuning method.Theoretical calculation adjusting
Method needs stronger basic theory and is familiar with controlled device characteristic, and parameter calculated must also be carried out by the way that engineering is practical
Adjustment and modification.Practical tuning method needs operator to have engineering commissioning experience abundant, cannot meet the requirements in system performance
When, operator will be compared according to the process values of display with setting value, be debugged repeatedly until meeting the requirements.It is practical at us
Production in, operator understands not enough the Rule adjusting of PID control, and not knowing when system cannot be met the requirements adjust
Which whole parameter, the parameter should increase or reduce；Secondly, the variation of data is not intuitive when debugging, due to the delay of system
Effect, debug time is long, influences the normal operation of PLC system, and debugging is difficult；System is adjusted for more complex cas PID control
The adjusting for parameter of uniting, more feels to have no way of doing it.
Summary of the invention
To solve the above-mentioned problems, the present invention provides it is a kind of for pid parameter adjusting analogue system generation method,
It include: hardware configuration step, in the hardware configuration picture of Siemens's STEP7 software, by being inserted into S7-400 implement porter, electricity
Source module, CPU and communication module, setting Ethernet link parameter complete the hardware configuration of analogue system；PLC programming step,
It is saved in the block container under the S7 program generated after compiling, is replicated in exemplary projects by the hardware configuration
FB100 functional block newly has OB100 starting tissue block, OB35 cycle interruption tissue block, FC1 function and FC2 function, described
FB100 functional block is used for for executing agency and controlled device in simulation control of PID, the OB100 starting tissue block to FB41
Functional block and FB100 functional block carry out initial value design, and the OB35 cycle interruption tissue block is used for according to the preset period to institute
It states FC1 function and FC2 function carries out recursive call, the FB41 functional block is used for for realizing PID control, the FC1 function
Realize that the FB41 functional block adjusts the single loop of the FB100 functional block, the FC2 function is for realizing the FB41 function
Cas PID regulation of the energy block to the FB100 functional block；Man-machine interface WINCC configuration step, in SIMATIC WinCC
In the variable administration interface of Explorer software, driving and connection are newly had, and selects PLCSIM (TCP/IP) as TCP/IP
System parameter in logical device title, then establish required variable under newly-built connection to be associated with the ground in PLC program
Location, in the picture editor of SIMATIC WinCC Explorer software, setting single loop adjusts picture and loop in series tune
Section picture is used to receive the input information and vision-control process of user, the input information include: given value, the sampling period,
The control mode of FB41 functional block, loop choice, FB100 functional block transmission function in inertial element delay time and ratio
Gain, and variable connection and movement configuration are carried out to pass to the FB41 functional block and the FB100 function in the PLC step
Block；And simulation process, in the S7-PLCSIM software integrated with STEP7, download program and run emulation it is imitative to generate
True system.
In generation method as described above, it is preferable that the control mode of the FB41 functional block include: P control mode,
PI control mode, PD control mode and pid control mode.
In generation method as described above, it is preferable that the transmission function of the FB100 functional block are as follows:
In formula, GAIN is the proportional gain of inertial element, and TM_LAG1, TM_LAG2, TM_LAG3 are respectively inertial element
Delay time, s are the Laplace operators of Laplace transformation in Theory of Automatic Control.
In generation method as described above, it is preferable that single loop adjusts picture and Cas PID regulation picture with curve
Mode vision-control process.
In generation method as described above, it is preferable that the input information further include: for making the given value 0
The step upper limit value of Spline smoothing and switching switch between setting value.
Technical solution provided in an embodiment of the present invention has the benefit that
PID controller is preferably used for Field Force, PID Rule adjusting is quickly grasped and provides convenience.According to existing
Then field actual conditions adjust PID controller relevant parameter, can intuitively observe control by modifying the parameter of controlled device
Influence of the parameter of device processed to system performance, to more fully understand the relationship of PID Rule adjusting and system performance.It is advised adjusting
Rule is summarized, and actual production on site can be used, and shortens live pid parameter setting time, Guarantee control system efficient stable fortune
Row.
Detailed description of the invention
Fig. 1 is the flow diagram that a kind of single loop provided in an embodiment of the present invention is adjusted；
Fig. 2 is a kind of flow diagram of serials control loop modulation provided in an embodiment of the present invention；
Fig. 3 is test pictures when a kind of single loop provided in an embodiment of the present invention is adjusted；
Test pictures when Fig. 4 is a kind of serials control loop modulation provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
It is sufficiently sharp when generating the analogue system provided in an embodiment of the present invention for pid parameter adjusting referring to Fig. 1~4
With Siemens SIEMENS programming software STEP7, simulation software S7-PLCSIM and human interface software WINCC, generation method
The steps included are as follows:
Hardware configuration step, in the hardware configuration picture of Siemens's STEP software, by insertion S7-400 implement porter,
Power module, CPU and communication module, setting Ethernet (Ethernet) link the hardware configuration that parameter completes analogue system.?
Before hardware configuration picture is shown, STEP software is run, in its main interface (SIMATIC Manager), grassroot project, project is used
S7-400 series, that is, create the project at the station a S7-400, and hardware configuration picture is the hardware configuration picture of the project.Hardware group
System can generate related data after the completion of state, and it includes the system datas of hardware information.
PLC programming step is replicated with and comes from saving the block container under the S7 program generated after compiling by hardware configuration
FB100 functional block (is copied to grassroot project S7 program from exemplary projects in other words by the FB100 functional block in exemplary projects
Under block container in), newly have OB100 starting tissue block, OB35 cycle interruption tissue block, FC1 function and FC2 function, FB100
Functional block for executing agency and controlled device in simulation control of PID, OB100 start tissue block be used for FB41 and FB100 into
Row initial value design, OB35 cycle interruption tissue block are used to carry out circulation tune to FC1 function and FC2 function according to the preset period
With FB41 functional block is for realizing PID control, and FC1 function is for realizing FB41 functional block to the single loop tune of FB100 functional block
Section, FC2 function is for realizing FB41 functional block to the Cas PID regulation of FB100 functional block.Wherein, hardware configuration saves compiling
S7 program is generated afterwards, and S7 program includes source file, block container and symbol.
STEP7 is SIEMENS S7-400PLC programming software, for writing PID control program,
FB41 " CONT_C " (continuous controller) functional block is the special function block for being used to realize PID control in S7-400,
It is continuous analog quantity that it, which is exported,.Siemens provide process object functional block FB100 can simulate actual executing agency and
Controlled device does not need the hardware and exterior operator, detecting element, controll plant of any PLC, it will be able to analog closed-loop control
System processed.
Man-machine interface WINCC configuration step, in the variable administration interface of SIMATIC WinCC Explorer software, newly
Driving and connection are had, and selects PLCSIM (TCP/IP) as the logical device title in the system parameter of TCP/IP, then
Required variable is established to be associated with the address in PLC program, in SIMATIC WinCC Explorer software under newly-built connection
Picture editor in, setting single loop adjusts picture and Cas PID regulation picture and is used to receive the input information of user and aobvious
Show adjustment process, input information includes: setting value, sampling period, the control mode of FB41 functional block, loop choice, FB100 function
The delay time of inertial element and proportional gain in the transmission function of energy block, and variable connection and movement configuration are carried out will input
Information (or parameter and work of setting or modification) pass to FB41 functional block and FB100 functional block in PLC step.Such as
Step upper limit value is connected to the address MD400 of PLC by wincc variable, is then again assigned to the value of MD400 by switching switch
The address DBD6 of the block of background data DB41 of FB41 functional block, i.e. the setting value input terminal of FB41 controller.
SIMATICWinCC7.0 (Windows Control Center) -- form control centre is that host computer configuration is soft
Part integrates production automation and process automation, realizes mutual integration, for the real-time prison to production process
Control has good open and flexibility.
Simulation process downloads program and runs emulation with life in the S7-PLCSIM software integrated with STEP7
At analogue system.The communication connection of PLC and S7-PLCSIM software in PLC programming step need to will answer in setting PG/PC interface
PLCSIM (TCP/IP) is changed to routine access point.
S7-PLCSIM V5.4 is the very powerful simulation software of a function, it is integrated with STEP7 programming software,
Most functions that S7-300/400PLC can be simulated on computers are the strong works of PLC program debugging and fault diagnosis
Tool.The emulation experiment of S7-PLCSIM V5.4 support FB41, FB42, FB43
PID regulator analogue system based on Siemens's software development preferably uses PID controller for Field Force,
It quickly grasps PID Rule adjusting and provides a kind of learning tool.According to on-site actual situations, by the ginseng for modifying controlled device
Number, i.e., the delay time of inertial element and proportional gain in the transmission function of FB100 functional block: T1 (corresponding TM_LAG1), T2
(corresponding TM_LAG2), T3 (corresponding TM_LAG3) and K (corresponding GAIN), then adjust PID controller relevant parameter, i.e., using anti-
Feedback switch, integral restrictor and differential switch and proportional gain Kp, time of integration TI, derivative time TDIt can be by FB41 functional block point
Not Zu Cheng P adjuster, pi regulator, PD adjuster and PID regulator, wherein time of integration TI, derivative time TDUnit be
The unit of ms, sampling period are ms, can intuitively observe influence of the parameter of adjuster (or controller) to system performance,
To more fully understand the relationship of PID Rule adjusting and system performance.Rule adjusting is summarized, practical life on site can be used
It produces, shortens live pid parameter setting time, the operation of Guarantee control system efficient stable.The parameter of FB100 functional block can be according to existing
Field actual conditions carry out different settings, simulate different controlled devices；When the Parameters variation of FB100 functional block, FB41 function
The parameter of block also carries out adjustment appropriate, to guarantee the quick response and stable operation of system.It can be simulated by adjustment parameter
System such as: heater control system, blast furnace blower control system, water system.
The relationship of PID Rule adjusting and system performance in order to better understand, the control mode of FB41 functional block include: P
Control mode, PI control mode, PD control mode and pid control mode, by feedback switch, integral restrictor and differential switch with
And proportional gain Kp, time of integration TI, derivative time TDFB41 functional block can be separately constituted to P adjuster, pi regulator, PD tune
Save device and PID regulator.
In order to simulate 3 concatenated inertial elements, the transmission function of FB100 functional block are as follows:
In formula, GAIN is the proportional gain of inertial element, and TM_LAG1, TM_LAG2, TM_LAG3 are respectively inertial element
Delay time, s are the Laplace operators of Laplace transformation in Theory of Automatic Control.FB100 functional block can simulate 3 it is concatenated
Inertial element, if need to reduce controlled device order sometime can will be set as 0 by constant.
Single loop adjusts picture and Cas PID regulation picture the vision-control process in a manner of curve, so convenient for image
Ground shows adjustment process, is conducive to operator and understands.
Setting step upper limit value cooperation switching switch can make the given value of PID controller step between 0 and setting value
Variation, to be more clearly visible that the output of controller with the variation tendency of setting value.The movement of switching switch is soft in WINCC
It is realized in part with VBS Script Programming, for switching between the upper limit value of 0~setting.VBS is a function of WINCC software
Can, in global script.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, in all respects are merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (5)
1. a kind of analogue system generation method for pid parameter adjusting, which is characterized in that the generation method includes:
Hardware configuration step, in the hardware configuration picture of Siemens's STEP7 software, by being inserted into S7-400 implement porter, electricity
Source module, CPU and communication module, setting Ethernet link parameter complete the hardware configuration of analogue system；
PLC programming step is replicated with and comes from saving the block container under the S7 program generated after compiling by the hardware configuration
FB100 functional block in exemplary projects, newly have OB100 starting tissue block, OB35 cycle interruption tissue block, FC1 function and
FC2 function, the FB100 functional block start tissue for executing agency and controlled device in simulation control of PID, the OB100
Block is used to carry out initial value design to FB41 functional block and FB100 functional block, and the OB35 cycle interruption tissue block is used for according to pre-
If period recursive call is carried out to the FC1 function and FC2 function, the FB41 functional block is described for realizing PID control
FC1 function is adjusted for realizing single loop of the FB41 functional block to the FB100 functional block, and the FC2 function is for real
Cas PID regulation of the existing FB41 functional block to the FB100 functional block；
Man-machine interface WINCC configuration step newly has in the variable administration interface of SIMATIC WinCC Explorer software
Driving and connection, and select PLCSIM (TCP/IP) as the logical device title in the system parameter of TCP/IP, then new
Variable needed for building the lower foundation of connection is to be associated with the address in PLC program, in the picture of SIMATIC WinCC Explorer software
In the editing machine of face, setting single loop adjusts picture and Cas PID regulation picture is used to receive the input information of user and display is adjusted
Section process, the input information includes: given value, sampling period, the control mode of FB41 functional block, loop choice, FB100 function
The delay time of inertial element and proportional gain in the transmission function of energy block, and variable connection and movement configuration are carried out to pass to
The FB41 functional block and FB100 functional block in the PLC step；
Simulation process, in the S7-PLCSIM software integrated with STEP7, download program and run emulation it is imitative to generate
True system.
2. generation method according to claim 1, which is characterized in that the control mode of the FB41 functional block includes: P control
Mode, PI control mode, PD control mode and pid control mode processed.
3. generation method according to claim 1, which is characterized in that the transmission function of the FB100 functional block are as follows:
In formula, GAIN is the proportional gain of inertial element, and TM_LAG1, TM_LAG2, TM_LAG3 are respectively the delay of inertial element
Time, s are the Laplace operators of Laplace transformation in Theory of Automatic Control.
4. generation method according to claim 1, which is characterized in that single loop adjusts picture and Cas PID regulation picture
The vision-control process in a manner of curve.
5. generation method according to claim 1, which is characterized in that the input information further include: for make it is described to
Definite value the step upper limit value of Spline smoothing and switching switch between 0 and setting value.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112286224A (en) * | 2020-10-23 | 2021-01-29 | 中国有色金属长沙勘察设计研究院有限公司 | Method for realizing accurate autonomous take-off and landing of unmanned airport rotor aircraft |
| CN115343942A (en) * | 2022-08-10 | 2022-11-15 | 河南翔宇医疗设备股份有限公司 | Air pump control system, PID parameter setting method, device and medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112286224A (en) * | 2020-10-23 | 2021-01-29 | 中国有色金属长沙勘察设计研究院有限公司 | Method for realizing accurate autonomous take-off and landing of unmanned airport rotor aircraft |
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