我以前做过比较多的位置闭环控制系统,就是"步进"式PID控制,主要来控制步进式电动执行机构的.我复制一个PID的程序给你参考一下.
A "INI_235"
= L 0.0
BLD 103
A "22101PS1"
= L 0.1
BLD 103
A "22101PS2"
= L 0.2
BLD 103
A DB381.DBX 56.2
= L 0.3
BLD 103
A DB381.DBX 56.3
= L 0.4
BLD 103
A DB381.DBX 56.4
= L 0.5
BLD 103
A DB381.DBX 56.5
= L 0.6
BLD 103
CALL "CONT_S" , DB201
COM_RST :=L0.0
LMNR_HS :=L0.1
LMNR_LS :=L0.2
LMNS_ON :=L0.3
LMNUP :=L0.4
LMNDN :=L0.5
PVPER_ON:=L0.6
CYCLE :=T#200MS
SP_INT :=DB381.DBD0
PV_IN :=DB381.DBD4
PV_PER :=
GAIN :=DB381.DBD8
TI :=DB381.DBD12
DEADB_W :=DB381.DBD20
PV_FAC :=
PV_OFF :=
PULSE_TM:=T#100MS
BREAK_TM:=T#100MS
MTR_TM :=T#30S
DISV :=DB381.DBD24
QLMNUP :="22101_PID_UP"
QLMNDN :="22101_PID_DOWN"
PV :=DB381.DBD44
ER :=DB381.DBD48
NOP 0