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