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Status.B1=1;
}
else if ( I_min
{
I_out = I_min;
Status.B1=1;
}
else
{
Status.B1 = 0;
}
/* Calculate the Setpoint Derivative term */
SD_out = SD_factor * ( Setpoint - Setpoint_old );
/* Clip to specified limits */
if ( SD_out
{
SD_out = SD_max;
Status.B3=1;
}
else if ( SD_min
{
SD_out = SD_min;
Status.B3=1;
}
else
{
Status.B3 = 0;
}
/* Calculate the Error Derivative term */
D_out = D_factor *( PV_old - inchan );
/* Clip to specified limits */
if ( D_out
{
D_out = D_max;
Status.B2=1;
}
else if ( D_min
{
D_out = D_min;
Status.B2=1;
}
else
{
Status.B2 = 0;
}
/* Calculate Proportional term */
P_out = Error * P_factor;
/* Sum PID&SD terms */
outchan = P_out + I_out + D_out + SD_out;
/* Save values for next pass */
PV_old = inchan;
Setpoint_old = Setpoint;
/* In case we switch to manual on the next pass */
/* prepare to hold output at latest value */
Man_out = outchan;
}
/* if ( Man_state ) */
/* Clip output to specified limits */
if ( outchan
{
Appendix D
>
I_out )
>
SD_max )/* Clip Setpoint derivative */
>
SD_out )
>
D_max )/* Clip derivative */
>
D_out )
>
Out_max )
PID Algorithm Listings
359
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