Pid

Simatic FAQ
SIMATIC FAQ
Totally Integrated Automation
Frequently Asked Question
Group Topic and Author

Step 7 PID Blocks
Bill West
Overview
There are many PID options within Step 7. This note will look at the options to help the
user decide which one is the best solution for their application. The PID blocks usually have
two versions, a Continuous Output and a Step Output. Pulse outputs are usually included in
the Continuous version. I am going to concentrate on the Continuous PID blocks. This note
excludes discussion of the FM355 and FM455 modules.
Step 7 Basis includes PID Control Blocks as part of the Standard Library. In the library
are 5 PID control blocks, FB41 (CONT_C, Continuous Control), FB42 (CONT_S, Step Control),
FB43 (PULSEGEN, Pulse Generator), FB58 (TCONT_CP, Continuous or Pulse Temperature
Control), and FB59 (TCOMP_S, Step Temperature Control).
The Standard PID Control option package has two parts, Runtime Function Blocks
(6ES7860-2AA21-0YX0) and Parameter Tool (6ES7830-2AA21-0YX0). The Runtimes blocks
are FB1 (PID_CP, Continuous Pulse PID) and FB2 (PID_ES, Step Action PID). The option
package also includes a Loop Scheduler and a Ramp/Soak block.
The Modular PID Control option package has two parts, Runtime Function Blocks
(6ES7860-1AA10-0YX0) and Parameter Tool (6ES7830-1AA10-0YX0). The Modular PID
package is a collection of 27 function blocks which enables the user to construct a custom PID
controller for complex applications.
These provide a wide range of solutions which can be confusing. The solution will often
be the result of application needs and cost. The following table gives a comparison of the
different options for PID in the S7 300 and 400 CPU’s. The S7 200 and Function modules are
excluded from this discussion
PID Blocks and the Self Tuner

Copyright 2007 by SIEMENS page 1 / 23
SIMATIC customers have free use of the application tips. These tips are only a general approach to using SIMATIC with various applications. Your
specific application may be different. It is your responsibility to use SIMATIC properly in your applications.
PID Blocks
Control Functions PID Control in Step PID Temperature Standard PID Modular PID
Modules 7 Control Control Control
Delivery Form Software, Software, SW Optional SW Optional
Component of Step Component of Packages: Packages:
7 CFC, Step 7 from V5.1 Function Blocks Function Blocks
CPU313C/314C SP1 (FB), (FB),
Parameterization Parameterization
Software, Manual Software, Manual
Application Simple PID control- PID Temperature PID Controller with Modular FB
loop control tasks control for simple off the shelf building blocks for
heating or cooling control structure complex closed
controller with and for control loop control tasks
integrated self- tasks of simple to with maximum
optimization medium flexibility and
complexity minimum memory
requirements and
shortest cycles.
Properties
Start up (Test,
Diagnostic) with parameterization tool
Online self-optimization In Conjunction with Yes for continuous In Conjunction In Conjunction
of controller with PID Self Tuner and pulse with PID Self with PID Self
controlled systems for controllers Tuner Tuner
Temperature (integrated
optimization
Online self-optimization In Conjunction with Controllers for With With
of controller with PID Self Tuner also ranges with similar parameterization parameterization
systems other than for for level and flow characteristics can software. software or PID
Temperature control be optimized Self Tuner
Elementary Closed-
Loop Control
Functions
PID Algorithm Yes Yes Yes Yes (FB19)
Output of Continuous
PID Controller Yes (FB41, SFB41) Yes (FB58) Yes (FB1) Yes (FB13)
Output of PID pulse Yes (FB41, SFB41, Yes (FB13 and
controller FB43, SFB43) Yes (FB58) Yes (FB1) FB20)
Output of PID step
controller Yes (FB42, SFB42) Yes (FB59) Yes (FB2) Yes (FB14)
Pulse Generator Component of Component of Yes (FB20)
Yes (FB43, SFB43) FB58 FB1
Component of PID Component of PID Component of PID
Integrator Algorithm Algorithm Algorithm Yes (FB8)
Component of PID Component of PID Component of PID
Differentiator Algorithm Algorithm Algorithm Yes (FB6)
PID Blocks
PID Blocks
Yes (in actual value Yes (in actual Yes (in setpoint,
and manual variable value branch) actual and manual
Physical Scaling branches) variable branches) Yes (FB16)
Yes (in system Yes (in system
Deadband deviation) Yes deviation) Yes (FB5)
Conversion of analog Yes (in actual value Yes (in actual
input value branch) Yes value branch) Yes (FB2)
Conversion of analog Yes (in manual Yes (in manual
output value variable branch) Yes variable branch) Yes (FB3)
Yes (in actual Yes (in actual
value and system value and system
deviation deviation
Limit Monitor No branches) branches) Yes (FB11)
Yes (in manual Yes (in setpoint Yes (in setpoint
variable branch) and actual value and manual
Limiter branches variable branches Yes (FB12)
System deviation
monitoring Yes Yes Yes (FB7)
Controller Scheduler Yes (FC1) Yes (FC1)
Supplemental
Functions
Yes (in setpoint
Setpoint generator branch) Yes (FB25)
Yes (in setpoint
Ramp Soak branch) Yes (FB21)
Yes (in setpoint
and manual
Rate Of Change Limiter variable branches) Yes (FB22)
Yes (as a filter in
actual value
1st order lag element branch) Yes (FB9)
2nd order lag element Yes (FB10)
Adaptive deadband Yes (FB1)
Dead time Yes (FB4)
Non-linear static
characteristic Yes (FB15)
Linear scaling Yes (FB23)
Linearization
Override control Yes (FB17)
Parameter control Yes (FB18)
Range Selection (split
range) Yes (FB24)
Analog value switch Yes (FB26)
Setpoint Branch
Setpoint generator Yes Yes (FB25)
Ramp Soak Yes Yes (FB21)
Scaling Yes (FB16 and
Yes FB23)
Limiter Yes Yes (FB12)
Rate Of Change Limiter Yes Yes (FB22)
PID Blocks
PID Blocks
FC call (nested) Yes Yes
PV (Actual Value)
Branch
Format conversion Yes Yes Yes Yes (FB2)
Yes (FB16 and
Scaling Yes Yes Yes FB23)
Smoothing Yes Yes (FB9)
Square Root function Yes
Monitoring of ROC Yes Yes (FB22)
Limit monitor Yes Yes (FB11)
FC call (nested) Yes
Closed loop controller
Continuous PID Yes (FB19 and
Controller Yes Yes Yes FB13)
PID pulse controller Yes (FB19 FB13
Yes Yes Yes FB21)
PID step controller Yes (FB19 and
Yes Yes Yes FB14)
Temperature controller Possible with PID Yes with PID Self Yes with PID Self
Self Tuner Yes Tuner Tuner
Output (Manipulated
Variable) Branch
Manual Automatic Yes (FB13 and
Switchover Yes Yes Yes FB14)
Manual variable
generator Yes Yes (FB25)
Yes (FB16 and
Scaling Yes Yes Yes FB23)
Format conversion Yes Yes Yes Yes (FB3)
Limiter Yes Yes Yes Yes (FB12)
Rate Of Change Limiter Yes Yes (FB22)
FC call (nested) Yes
Pulse Generator Yes Yes Yes Yes (FB20)
Closed loop control
structures
Fixed Setpoint control Yes Yes Yes Yes
Follow up control * Yes
Cascade control Limited Limited Yes Yes
Ratio control Limited Limited Yes Yes
Blending control Limited Yes
Split Range Yes Yes Limited Yes
System integration
Step 7 from V3.0,
CPU313C/314C
from Step7 V5.1 From Step7 V5.1
Supported by SP3, CFC V1.1 SP3 From Step7 V2.1 From Step7 V3.1
Parameterization
software Part of Step 7 Part of Step 7 Yes Yes
Yes from CFC
Integration with CFC Yes Can be integrated Yes V5.0
PID Blocks
PID Blocks
Authorization/licensin
g
Yes for parameter- Yes for parameter-
Authorization Irrelevant Irrelevant ization software ization software
Runtime License for Required for each Required for each
FB/FC library Irrelevant Irrelevant CPU CPU
License for
parameterization Required for each Required for each
software Irrelevant Irrelevant PG/PC PG/PC
* Follow up control involves a controller in which the setpoint is constantly influenced externally
(secondary controller of a multi-loop control system). The task of the secondary controller is to
correct the local process variable as quickly and accurately as possible so that it matches the
setpoint.
Step 7 Basis Standard Library

Step 7 has always had blocks for PID control. More recently PID blocks for temperature
control were added to the Step 7 Standard Library. The PID blocks can be used as a fixed
setpoint controller or in a multi-loop control strategy like cascade or ratio control. Step 7
includes a parameter assignment tool for the PID instance datablock (IDB).
When the tool is selected, a window pops up to select the project and datablock.
Opening the Offline version allows you to make parameter settings. When the Online block is
opened you have the added capability of a chart recorder.
PID Blocks
PID Blocks
The chart (Curve) recorder facilitates tuning the loop.
FB41 and FB42 are the “no frills” PID controllers for simple control tasks.
Step 7 Basis Standard Library - Temperature Control

Although temperature control is considered a simple control task mostly due to the slow
process response, most temperature systems are non-symetrical due to the heating and
cooling aspects of the process. Temperature control also possesses a non-linear response
due to the actuator/sensors used. These characteristics result in a complicated system to start
up and tune. For this reason, Siemens introduced the Temperature PID blocks, Continuous
Temperature Controller (FB58) and Temperature Step Controller (FB59). FB58 includes an
integral pulse generator and self-tuning. FB58 and FB59 can used to control purely heating or
cooling applications.
The size of FB58 in Work Memory is considerably larger than FB41:
PID Blocks
PID Blocks
Function Block Work Memory (Bytes)

FB58 9902
FB41 1462
FB41 + PULSEGEN (FB43) 1462 + 932 = 2394
FB41+ PULSEGEN + TUN_EX (FB50-Self 1462 + 932 + 5956 =
Tuner) 8350
FB58 is larger than FB41 with the Pulse Generator and the Self Tuning block, which indicates
additional features. One of the additional features is Peripheral Mode, PER_MODE. With
PER_MODE, the controller converts the PV_PER to a floating point number per the following
chart:
PER_MODE Output of CRP_IN Analog Input Type Unit

o
0 PV_PER * 0.1 Thermocouple: PT100/NI100; standard C; oF
o
1 PV_PER * 0.01 PT100/NI100, RTD C; oF
2 PV_PER* Voltage/current %
100/27648
Another feature is the Control Zone. When the process value enters the control zone, the D-
action causes an extremely fast reduction of the manipulated variable. This means that the
control zone is only useful when the D-action is activated. Without a control zone, basically only
the reducing P-action would reduce the manipulated variable. The control zone leads to faster
settling without overshoot or undershoot if the output minimum (LMN_LLM) or maximum
(LMN_HLM) manipulated variable has a large deviation from the manipulated variable required
for the new operating point.
FB58 and FB59 utilize a Parameter Assignment Tool similar to the PID Parameter Assignment
Tool. To access the tool, double click or Right Mouse Click (RMC), Open on the instance
datablock.
PID Blocks
PID Blocks
Use the (Online/Offline) icon to open the datablock online. With the online block open, the
Options menu reveals Curve Recorder, Controller Tuning and Commissioning options.
The Curve Recorder is almost identical to the PID Parameter Assignment Tool.
PID Blocks
PID Blocks
Controller Tuning opens a wizard to tune the loop with the self tuner.
The Next button selection offers choices to tune the PID or PI parameters. The Next button
selection offers to tune the loop by approaching the operating point with a setpoint step change
or by tuning at the operating point with a start bit. The Next button selection asks for Process
excitation (disturbance) with either a Setpoint (Operating point) or Output (Manipulated
variable) change. The Next button selection starts the tuning.
PID Blocks
PID Blocks
The Commissioning option selection opens a pop up window to enter the mode (Auto or
Manual), to enter a Setpoint or Output value depending on the mode, to select for the PID or PI
paramters and to save or load the parameters and control zone calculated by the tuning wizard.
PID Blocks
PID Blocks
Standard PID Control

Standard PID Control is suitable for closed-loop control tasks of low or medium complexity: for
temperature, pressure, flow and level controls. Standard PID can handle heating and cooling
in a single loop, cascade control, and ramp soak. Standard PID supports calling FC’s to
operate on the Setpont, Process Variable and Output branches. It also includes a Loop
Scheduler which allows up to 256 control loops to be called with sampling times which amount
to an integer multiple of the interrupt cycles. FB1, PID_CP, is approximately 500% larger in
work memory than FB41

FB1 7796
FB41 1462
FB41 + PULSEGEN (FB43) 1462 + 932 = 2394
Standard PID has a parameter assignment tool similar to the Standard Library PID blocks. It is
invoked by selecting SIMATIC, Step7, Standard PID Control Parameter Assignment
PID Blocks
PID Blocks
When the tool opens select the IDB for the instance of FB1 you want to configure. The
following is what will be displayed.
The selection of any of the icons opens a pop up window to enter parameters. The popup
window below was accessed by selecting the PID icon.
PID Blocks
PID Blocks
The parameters for PID, such as P, PI, PD, PID can be selected. The Gain, Reset time and
Derivative time can be entered in the corresponding input blocks.
When the online block is opened. There are two views available with the Debug Menu, Loop
Monitor and Curve Recorder
The Loop Monitor opens a popup window that is mini-faceplate. From here you can change
the Setpoint and watch the reaction to the Process Variable and to the Output (LMN).
The Curve Recorder (Trend) Opens a popup to display a real time trend of the Setpoint, PV
and Output (LMN).
PID Blocks
PID Blocks
The Settings button opens a popup window to set the frequency of the update and the number
of items to be display. You can also specify a csv file to record the values. This can be access
by the Curve Recorder to review. You can use these tools to tune the loop or you can use the
PID Self Tuner block to tune the loop.
Standard PID Control is suitable for closed-loop control tasks of low to medium complexity: for
temperature, pressure, flow and level controls. Standard PID can also handle cascade control,
ratio control and ramp soak.
Modular PID Control

Modular PID is the “ala carte menu” of S7 PID control. Modular PID Control is suitable for
applications requiring extensive control structures and for applications in which memory must
be minimized. The following table contains the block names and a brief description of the
functionality provided:
Object Symbol
Name Name Description
Adaptive Dead Band: This block filters high-frequency disturbance signals
out of the error signal. It forms a dead band around the zero point. If the
input variable is within this dead band, zero is applied to the output. The
width of the dead band is automatically adapted to the amplitude of the
FB1 A_DEAD_B noise signal.
Change Range Peripheral Input: CRP_IN converts an input value in
peripheral format to a normalized floating-point value for the modular
FB2 CRP_IN controller
Change Range Peripheral Output: CRP_OUT converts an input value
(normalized floating-point value of the modular controller) to the
FB3 CRP_OUT peripheral format of the analog I/Os.
Dead Time: The block delays the output of an input value by a selectable
time (dead time). The input values are buffered in a shared data block.
The maximum dead time depends on the length of this data block. The
data in the shared data block DB_NBR are processed in the same way as
FB4 DEAD_T in a ring buffer.
Deadband: The DEADBAND block suppresses small fluctuations in the
input variable INV around a specified zero point. Outside this dead band,
FB5 DEADBAND the output variable OUTV rises proportionally to the input variable.
Differentiator: The block differentiates the input value over time and
FB6 DIF filters the signal with a 1st order lag.
PID Blocks
PID Blocks
Error Signal Monitoring: The block calculates the error signal ER = SP –
PV and monitors it for selectable limits. If there is a change in the
setpoint greater than SP_DIF, the activation of the limit value signal
FB7 ERR_MON ER_LM is suppressed for a selectable time.
Integrator: The block integrates the input variable over time and restricts
FB8 INTEG the integral to a selectable upper and lower limit.
First Order Lag Element: The block filters the input variable with a 1st
FB9 LAG1ST order time lag. The time lag can be selected.
Second Order Lag Element: The block is used to simulate system
components for precontrollers and two-loop controllers. The block
FB10 LAG2ND implements a 2nd order lag capable of oscillation.
Limit Alarm: Four limit values can be selected for the input variable INV.
If one of these limits is reached and exceeded, a limit signal is output. A
FB11 LIMALARM hysteresis can be set for the off threshold.
Limiter: If the parameters are set dynamically (for example setpoints
calculated from process variables) these can be set to values that are not
permitted for the process. With LIMITER, you can keep values within the
FB12 LIMITER permitted range.
Output Continuous PLC controller: The block is used to structure a
continuous PID controller. It contains the manipulated value processing of
the controller The block includes the manual-automatic switchover. In the
manual mode, you can specify an absolute value or increase or reduce
the value with switches. The manipulated value and the rate of change of
FB13 LMNGEN_C the manipulated value can be restricted to selectable limits.
Output PID Step controller: The block is used to structure a PID step
controller for actuators with an integral component, (for example motor-
driven valves). It contains the manipulated value processing of the
controller. The step controller can operate both with and without a
FB14 LIMGEN_S position feedback signal.
Non-Linear Static Function: With NONLIN, the input value, for example
a measured value from a thermo-element, can be adapted using a
FB15 NONLIN selectable function.
Physical Normalization: The block normalizes the input variable to form
an output variable with a different range of values. The normalization
FB16 NORM curve is defined by two points.
Override Control: Two PID controllers are connected to one actuator. The
block is used to determine which PID block controls the actuator at which
FB17 OVERRIDE points in the process.
Paramter Control: The block is used in controller structures with
parameter changeovers when optimum parameters are required for
FB18 PARA_CTL different operating ranges.
PID: The block implements the PID algorithm. It is designed as a purely
parallel structure and functions solely as a positioning algorithm. The
proportional, integral and derivative actions can be activated or
deactivated individually. This allows P, PI, PD and PID controllers to be
FB19 PID configured.
Pulse Generator: The block is used to structure a PID controller with
pulse a output for proportional actuators. This allows three-step and two-
FB20 PULSGEN step controllers with pulse duration modulation to be implemented.
Ramp Soak: The ramp soak is used mainly as a setpoint value generator
for a controller that sets different setpoints at different times while the
FB21 RMP_SOAK process is running.
PID Blocks
PID Blocks
Rate of Change Limiter: Ramp functions are used when the process must
not be subjected to a step change at the input. This is, for example, the
case when gearing is included between the motor and the load and when
FB22 ROC_LIM increasing the motor speed too fast would overload the gearing.
Linear Scaling: The block normalizes an analog variable. The

normalization curve is defined by the slope (FACTOR) and distance
FB23 SCALE between OUTV when INV = 0 and the coordinate axis OUTV = 0.
Split Range: The manipulated value range of a PID controller is split into
FB24 SPLT_RAN several subranges.
Setpoint Generator: With the SP_GEN, the setpoint can be incremented
up or down through the OUTVUP and OUTVDN inputs. If the
FB25 SP_GEN DFOUT_ON is true, the value can be entered directly.
Switch: The block is used as an input and/or output multiplexer of two
FB26 SWITCH input/output variables.
Loop Scheduler: When calling a large number of control loops with
different sampling times, and with control loops with large sampling
times, the range of the priority classes for cyclic interrupts is not
adequate. Using the loop scheduler LP_SCHED, several control loops
with different sampling times can be called at equal intervals in one
FC1 LP_SCHED cyclic interrupt priority class.
DB1 DB_LOOP Data Block for the Loop Scheduler
DB2 DB_RMPSK Data Block for Ramp Soak function
DB3 DB_DEADT Data Block for Dead Time function
DB4 DB_NONLI Data Block for Non Linear function
Modular PID Control is a collection of standard function blocks, which can be combined to
create any type of control structure for SIMATIC S7/C7. The blocks can be connected using
STEP 7, SCL, and CFC. The CFC option is a straightforward programming environment for
visualizing the interconnection of the Modular PID blocks.
PID Blocks
PID Blocks
Modular PID can handle heating and cooling in a single loop, cascade control, and ramp soak.
It includes a Loop Scheduler which allows up to 256 control loops to be called. The control
loops with different sampling times can be called at equal intervals in one cyclic interrupt priority
class.
FB19, PID, with FB13, LMNGEN_C, is approximately 235% larger in work memory than FB41

FB19 (PID) + FB13 (LMNGEN_C) 2096+1340 = 3436
FB41 1462
Modular PID has a parameter assignment tool similar to the Standard Library PID blocks. It is
invoked by selecting SIMATIC, Step7, Modular PID Control Startup and Test:
PID Blocks
PID Blocks
When the tool is invoked, you are asked to find the project and attached to a Variable Table. If
a variable table does not exist, you can create it.
The next step is to select the Data Block and define the pertinent addresses. This is
accomplished through the Test menu, Paremter Addresses.
PID Blocks
PID Blocks
The popup window allows the specification of the addresses:
PID Blocks
PID Blocks
From the Test menu selecting Curve Recorder , opens a trend window.
The window resembles the trend window of the other tools.
The Loop Monitor selection, , opens a popup window that is a mini-

faceplate. From here you can change the Setpoint and watch the reaction to the Process
Variable and to the Output (LMN).
PID Blocks
PID Blocks
The Controller Optimization option, , opens the Loop Monitor popup

window and steps the operator through a step change in the Setpoint or Manipulated Variable.
A prompt for each step appears.
PID Blocks
PID Blocks
You can use these tools to tune the loop or you can use the PID Self Tuner block to tune the
loop.
Summation
The Step 7 Basis Standard PID Library, optional Standard PID Control and optional Modular
PID Control provide tools to solve your PID control needs. There are overlaps between the
products as well. In general, the Step 7 Basis Standard Library PID blocks are for simple
control problems. The temperature control blocks, FB58 and FB59, solve a more complex
control problems but are still in the simplest arena. Standard PID Control is a good choice to
low to medium complex control problems. Standard PID Control also introduces the Loop
Scheduler. The Loop Scheduler is especially useful if there are a large number of loops and a
limited number of cyclic interrupt OB’s. For the most complex control problems, Modular PID
Control offers the widest range of solutions. The building block approach lets you tailor the
solution to fit your needs rather than tailoring your needs to fit the solution.
All of the options include a Configuration and Start up tool to assist in assigning parameters
and tuning the loops.
Related Information
The following materials will provide additional explanation for the use of the various PID Blocks:
SIMATIC Modular PID Control, Edition 11/2003
SIMATIC Modular PID Control, Getting Started, Edition 11/2003
SIMATIC Standard PID Control, Edition 3/2003
SIMATIC Standard PID Control, Getting Started, Edition 3/2003
SIMATIC Standard Software for S7-300 and S7-400 PID Control User Manual
SIMATIC PID Temperature Control Manual, Edition 12/2003
Hardware and Software Considerations
Step 7 V5.4 SP2
Modular PID V5.0 Control Tool and Control FB
Standard PID V5.1 Control Tool and Control FB
PID Blocks
PID Blocks
General Notes
Siemens reserves the right to make changes in specifications shown herein or make
improvements at any time without notice or obligation. It does not relieve the user of
responsibility to use sound practices in application, installation, operation, and maintenance of
the equipment purchased. Should a conflict arise between the general information contained in
this publication, the contents of drawings or supplementary material, or both, the latter shall
take precedence.
Siemens is not liable, for whatever legal reason, for damages or personal injury resulting from
the use of the FAQ and application tips.
All rights reserved. Any form of duplication or distribution, including excerpts, is only permitted
with express authorization by SIEMENS.
PID Blocks

Pid

Caricato da

Informazioni sul documento

Titolo originale

Copyright

Formati disponibili

Condividi questo documento

Condividi o incorpora il documento

Opzioni di condivisione

Hai trovato utile questo documento?

Questo contenuto è inappropriato?

Copyright:

Formati disponibili

Pid

Caricato da

Copyright:

Formati disponibili

Simatic FAQ

Group Topic and Author

PID Blocks and the Self Tuner

Step 7 Basis Standard Library

The chart (Curve) recorder facilitates tuning the loop.

Step 7 Basis Standard Library - Temperature Control

The size of FB58 in Work Memory is considerably larger than FB41:

Function Block Work Memory (Bytes)

PER_MODE Output of CRP_IN Analog Input Type Unit

Standard PID Control

Function Block Work Memory (Bytes)

Modular PID Control

Linear Scaling: The block normalizes an analog variable. The

Function Block Work Memory (Bytes)

The popup window allows the specification of the addresses:

The Loop Monitor selection, , opens a popup window that is a mini-

The Controller Optimization option, , opens the Loop Monitor popup

Potrebbero piacerti anche