Marty Kraimer
416 lines
12 KiB
C
416 lines
12 KiB
C
/* recPid.c */
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/* base/src/rec $Id$ */
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/* recPid.c - Record Support Routines for Pid records */
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/*
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* Original Author: Bob Dalesio
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* Current Author: Marty Kraimer
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* Date: 5-19-89
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*
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* Experimental Physics and Industrial Control System (EPICS)
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*
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* Copyright 1991, the Regents of the University of California,
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* and the University of Chicago Board of Governors.
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*
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* This software was produced under U.S. Government contracts:
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* (W-7405-ENG-36) at the Los Alamos National Laboratory,
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* and (W-31-109-ENG-38) at Argonne National Laboratory.
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*
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* Initial development by:
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* The Controls and Automation Group (AT-8)
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* Ground Test Accelerator
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* Accelerator Technology Division
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* Los Alamos National Laboratory
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*
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* Co-developed with
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* The Controls and Computing Group
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* Accelerator Systems Division
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* Advanced Photon Source
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* Argonne National Laboratory
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*
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* Modification Log:
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* -----------------
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* .01 10-15-90 mrk changes for new record support
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* .02 11-11-91 jba Moved set and reset of alarm stat and sevr to macros
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* .03 02-05-92 jba Changed function arguments from paddr to precord
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* .04 02-28-92 jba Changed get_precision,get_graphic_double,get_control_double
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* .05 02-28-92 jba ANSI C changes
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* .06 06-02-92 jba changed graphic/control limits for hihi,high,low,lolo
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* .07 07-15-92 jba changed VALID_ALARM to INVALID alarm
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* .08 07-16-92 jba added invalid alarm fwd link test and chngd fwd lnk to macro
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* .09 07-21-92 jba changed alarm limits for non val related fields
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* .10 08-06-92 jba New algorithm for calculating analog alarms
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* .11 09-10-92 jba modified fetch of VAL from STPL to call recGblGetLinkValue
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* .12 03-29-94 mcn Converted to fast links
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*/
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#include <vxWorks.h>
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#include <types.h>
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#include <stdioLib.h>
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#include <lstLib.h>
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#include <string.h>
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/*since tickLib is not defined just define tickGet*/
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unsigned long tickGet();
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#include "dbDefs.h"
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#include "epicsPrint.h"
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#include <alarm.h>
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#include <dbAccess.h>
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#include <dbEvent.h>
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#include <dbFldTypes.h>
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#include <errMdef.h>
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#include <recSup.h>
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#define GEN_SIZE_OFFSET
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#include <pidRecord.h>
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#undef GEN_SIZE_OFFSET
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/* Create RSET - Record Support Entry Table*/
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#define report NULL
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#define initialize NULL
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static long init_record();
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static long process();
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#define special NULL
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#define get_value NULL
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#define cvt_dbaddr NULL
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#define get_array_info NULL
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#define put_array_info NULL
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static long get_units();
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static long get_precision();
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#define get_enum_str NULL
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#define get_enum_strs NULL
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#define put_enum_str NULL
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static long get_graphic_double();
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static long get_control_double();
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static long get_alarm_double();
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struct rset pidRSET={
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RSETNUMBER,
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report,
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initialize,
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init_record,
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process,
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special,
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get_value,
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cvt_dbaddr,
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get_array_info,
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put_array_info,
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get_units,
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get_precision,
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get_enum_str,
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get_enum_strs,
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put_enum_str,
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get_graphic_double,
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get_control_double,
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get_alarm_double };
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static void alarm();
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static void monitor();
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static long do_pid();
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static long init_record(ppid,pass)
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struct pidRecord *ppid;
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int pass;
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{
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if (pass==0) return(0);
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/* initialize the setpoint for constant setpoint */
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if (ppid->stpl.type == CONSTANT){
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if(recGblInitConstantLink(&ppid->stpl,DBF_FLOAT,&ppid->val))
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ppid->udf = FALSE;
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}
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return(0);
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}
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static long process(ppid)
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struct pidRecord *ppid;
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{
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long status;
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ppid->pact = TRUE;
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status=do_pid(ppid);
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if(status==1) {
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ppid->pact = FALSE;
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return(0);
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}
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recGblGetTimeStamp(ppid);
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alarm(ppid);
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monitor(ppid);
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recGblFwdLink(ppid);
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ppid->pact=FALSE;
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return(status);
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}
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static long get_units(paddr,units)
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struct dbAddr *paddr;
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char *units;
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{
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struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
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strncpy(units,ppid->egu,DB_UNITS_SIZE);
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return(0);
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}
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static long get_precision(paddr,precision)
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struct dbAddr *paddr;
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long *precision;
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{
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struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
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*precision = ppid->prec;
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if(paddr->pfield == (void *)&ppid->val
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|| paddr->pfield == (void *)&ppid->cval) return(0);
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recGblGetPrec(paddr,precision);
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return(0);
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}
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static long get_graphic_double(paddr,pgd)
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struct dbAddr *paddr;
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struct dbr_grDouble *pgd;
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{
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struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
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if(paddr->pfield==(void *)&ppid->val
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|| paddr->pfield==(void *)&ppid->hihi
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|| paddr->pfield==(void *)&ppid->high
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|| paddr->pfield==(void *)&ppid->low
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|| paddr->pfield==(void *)&ppid->lolo
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|| paddr->pfield==(void *)&ppid->p
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|| paddr->pfield==(void *)&ppid->i
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|| paddr->pfield==(void *)&ppid->d
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|| paddr->pfield==(void *)&ppid->cval){
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pgd->upper_disp_limit = ppid->hopr;
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pgd->lower_disp_limit = ppid->lopr;
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} else recGblGetGraphicDouble(paddr,pgd);
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return(0);
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}
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static long get_control_double(paddr,pcd)
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struct dbAddr *paddr;
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struct dbr_ctrlDouble *pcd;
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{
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struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
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if(paddr->pfield==(void *)&ppid->val
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|| paddr->pfield==(void *)&ppid->hihi
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|| paddr->pfield==(void *)&ppid->high
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|| paddr->pfield==(void *)&ppid->low
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|| paddr->pfield==(void *)&ppid->lolo
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|| paddr->pfield==(void *)&ppid->p
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|| paddr->pfield==(void *)&ppid->i
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|| paddr->pfield==(void *)&ppid->d
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|| paddr->pfield==(void *)&ppid->cval){
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pcd->upper_ctrl_limit = ppid->hopr;
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pcd->lower_ctrl_limit = ppid->lopr;
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} else recGblGetControlDouble(paddr,pcd);
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return(0);
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}
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static long get_alarm_double(paddr,pad)
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struct dbAddr *paddr;
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struct dbr_alDouble *pad;
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{
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struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
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if(paddr->pfield==(void *)&ppid->val){
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pad->upper_alarm_limit = ppid->hihi;
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pad->upper_warning_limit = ppid->high;
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pad->lower_warning_limit = ppid->low;
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pad->lower_alarm_limit = ppid->lolo;
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} else recGblGetAlarmDouble(paddr,pad);
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return(0);
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}
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static void alarm(ppid)
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struct pidRecord *ppid;
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{
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double val;
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float hyst, lalm, hihi, high, low, lolo;
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unsigned short hhsv, llsv, hsv, lsv;
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if(ppid->udf == TRUE ){
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recGblSetSevr(ppid,UDF_ALARM,INVALID_ALARM);
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return;
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}
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hihi = ppid->hihi; lolo = ppid->lolo; high = ppid->high; low = ppid->low;
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hhsv = ppid->hhsv; llsv = ppid->llsv; hsv = ppid->hsv; lsv = ppid->lsv;
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val = ppid->val; hyst = ppid->hyst; lalm = ppid->lalm;
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/* alarm condition hihi */
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if (hhsv && (val >= hihi || ((lalm==hihi) && (val >= hihi-hyst)))){
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if (recGblSetSevr(ppid,HIHI_ALARM,ppid->hhsv)) ppid->lalm = hihi;
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return;
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}
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/* alarm condition lolo */
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if (llsv && (val <= lolo || ((lalm==lolo) && (val <= lolo+hyst)))){
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if (recGblSetSevr(ppid,LOLO_ALARM,ppid->llsv)) ppid->lalm = lolo;
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return;
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}
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/* alarm condition high */
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if (hsv && (val >= high || ((lalm==high) && (val >= high-hyst)))){
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if (recGblSetSevr(ppid,HIGH_ALARM,ppid->hsv)) ppid->lalm = high;
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return;
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}
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/* alarm condition low */
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if (lsv && (val <= low || ((lalm==low) && (val <= low+hyst)))){
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if (recGblSetSevr(ppid,LOW_ALARM,ppid->lsv)) ppid->lalm = low;
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return;
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}
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/* we get here only if val is out of alarm by at least hyst */
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ppid->lalm = val;
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return;
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}
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static void monitor(ppid)
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struct pidRecord *ppid;
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{
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unsigned short monitor_mask;
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float delta;
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monitor_mask = recGblResetAlarms(ppid);
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/* check for value change */
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delta = ppid->mlst - ppid->val;
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if(delta<0.0) delta = -delta;
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if (delta > ppid->mdel) {
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/* post events for value change */
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monitor_mask |= DBE_VALUE;
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/* update last value monitored */
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ppid->mlst = ppid->val;
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}
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/* check for archive change */
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delta = ppid->alst - ppid->val;
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if(delta<0.0) delta = -delta;
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if (delta > ppid->adel) {
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/* post events on value field for archive change */
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monitor_mask |= DBE_LOG;
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/* update last archive value monitored */
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ppid->alst = ppid->val;
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}
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/* send out all monitors for value changes*/
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if (monitor_mask){
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db_post_events(ppid,&ppid->val,monitor_mask);
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}
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delta = ppid->odm - ppid->dm;
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if(delta<0.0) delta = -delta;
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if(delta > ppid->odel) {
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ppid->odm = ppid->dm;
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monitor_mask = DBE_LOG|DBE_VALUE;
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db_post_events(ppid,&ppid->dm,monitor_mask);
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db_post_events(ppid,&ppid->p,monitor_mask);
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db_post_events(ppid,&ppid->i,monitor_mask);
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db_post_events(ppid,&ppid->d,monitor_mask);
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db_post_events(ppid,&ppid->ct,monitor_mask);
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db_post_events(ppid,&ppid->dt,monitor_mask);
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db_post_events(ppid,&ppid->err,monitor_mask);
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db_post_events(ppid,&ppid->derr,monitor_mask);
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}
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return;
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}
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/* A discrete form of the PID algorithm is as follows
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* M(n) = KP*(E(n) + KI*SUMi(E(i)*dT(i))
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* + KD*(E(n) -E(n-1))/dT(n) + Mr
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* where
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* M(n) Value of manipulated variable at nth sampling instant
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* KP,KI,KD Proportional, Integral, and Differential Gains
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* NOTE: KI is inverse of normal definition of KI
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* E(n) Error at nth sampling instant
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* SUMi Sum from i=0 to i=n
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* dT(n) Time difference between n-1 and n
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* Mr midrange adjustment
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*
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* Taking first difference yields
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* delM(n) = KP*((E(n)-E(n-1)) + E(n)*dT(n)*KI
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* + KD*((E(n)-E(n-1))/dT(n) - (E(n-1)-E(n-2))/dT(n-1))
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* or using variables defined in following
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* dm = kp*(de + e*dt*ki + kd*(de/dt - dep/dtp)
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*/
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static long do_pid(ppid)
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struct pidRecord *ppid;
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{
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long status;
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unsigned long ctp; /*clock ticks previous */
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unsigned long ct; /*clock ticks */
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float cval; /*actual value */
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float val; /*desired value(setpoint)*/
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float dt; /*delta time (seconds) */
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float dtp; /*previous dt */
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float kp,ki,kd;/*gains */
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float e; /*error */
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float ep; /*previous error */
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float de; /*change in error */
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float dep; /*prev change in error */
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float dm; /*change in manip variable */
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float p; /*proportional contribution*/
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float i; /*integral contribution*/
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float d; /*derivative contribution*/
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/* fetch the controlled value */
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if (ppid->cvl.type == CONSTANT) { /* nothing to control*/
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if (recGblSetSevr(ppid,SOFT_ALARM,INVALID_ALARM)) return(0);
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}
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if (dbGetLink(&ppid->cvl,DBR_FLOAT,&cval,0,0)) {
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recGblSetSevr(ppid,LINK_ALARM,INVALID_ALARM);
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return(0);
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}
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/* fetch the setpoint */
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if(ppid->smsl == CLOSED_LOOP){
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status = dbGetLink(&(ppid->stpl),DBR_FLOAT,
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&(ppid->val),0,0);
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if (RTN_SUCCESS(status)) ppid->udf=FALSE;
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}
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val = ppid->val;
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if (ppid->udf == TRUE ) {
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recGblSetSevr(ppid,UDF_ALARM,INVALID_ALARM);
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return(0);
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}
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/* compute time difference and make sure it is large enough*/
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ctp = ppid->ct;
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ct = tickGet();
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if(ctp==0) {/*this happens the first time*/
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dt=0.0;
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} else {
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if(ctp<ct) {
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dt = (float)(ct-ctp);
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}else { /* clock has overflowed */
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dt = (unsigned long)(0xffffffff) - ctp;
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dt = dt + ct + 1;
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}
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dt = dt/vxTicksPerSecond;
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if(dt<ppid->mdt) return(1);
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}
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/* get the rest of values needed */
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dtp = ppid->dt;
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kp = ppid->kp;
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ki = ppid->ki/60.0;
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kd = ppid->kd/60.0;
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ep = ppid->err;
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dep = ppid->derr;
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e = val - cval;
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de = e - ep;
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p = kp*de;
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i = kp*e*dt*ki;
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if(dtp>0.0 && dt>0.0) d = kp*kd*(de/dt - dep/dtp);
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else d = 0.0;
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dm = p + i + d;
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/* update record*/
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ppid->ct = ct;
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ppid->dt = dt;
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ppid->err = e;
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ppid->derr = de;
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ppid->cval = cval;
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ppid->dm = dm;
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ppid->p = p;
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ppid->i = i;
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ppid->d = d;
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return(0);
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}
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