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MacOS 8.1

Win98

DOS

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|00000000| cd 00 00 00 44 65 72 69 | 76 61 74 69 76 65 20 28 |....Deri|vative (|
|00000010| 52 41 54 45 29 3a 20 20 | 49 6e 20 73 65 63 6f 6e |RATE):  |In secon|
|00000020| 64 73 20 2e 2e 2e 20 74 | 68 65 20 61 6d 6f 75 6e |ds ... t|he amoun|
|00000030| 74 20 6f 66 20 74 69 6d | 65 20 74 68 61 74 20 69 |t of tim|e that i|
|00000040| 74 20 61 64 76 61 6e 63 | 65 73 20 74 68 65 20 6f |t advanc|es the o|
|00000050| 75 74 70 75 74 2e 20 20 | 54 68 69 73 20 63 61 6e |utput.  |This can|
|00000060| 20 75 73 65 64 20 74 6f | 20 61 64 6a 75 73 74 20 | used to| adjust |
|00000070| 70 72 6f 63 65 73 73 65 | 73 20 74 68 61 74 20 68 |processe|s that h|
|00000080| 61 76 65 20 6c 61 67 2c | 20 6f 72 20 61 72 65 20 |ave lag,| or are |
|00000090| 73 6c 75 67 67 69 73 68 | 2c 20 6f 72 20 70 72 6f |sluggish|, or pro|
|000000a0| 63 65 73 73 65 73 20 74 | 68 61 74 20 61 72 65 20 |cesses t|hat are |
|000000b0| 76 65 72 79 20 73 65 6e | 73 69 74 69 76 65 20 74 |very sen|sitive t|
|000000c0| 6f 20 6f 75 74 70 75 74 | 20 63 68 61 6e 67 65 73 |o output| changes|
|000000d0| 2e bf 00 00 00 49 6e 74 | 65 67 72 61 6c 20 28 52 |.....Int|egral (R|
|000000e0| 45 53 45 54 29 3a 20 20 | 49 6e 20 73 65 63 6f 6e |ESET):  |In secon|
|000000f0| 64 73 2c 20 61 6c 73 6f | 20 63 61 6c 6c 65 64 20 |ds, also| called |
|00000100| 28 72 65 70 65 61 74 73 | 20 70 65 72 20 6d 69 6e |(repeats| per min|
|00000110| 75 74 65 29 20 2e 2e 2e | 20 68 6f 77 20 6d 61 6e |ute) ...| how man|
|00000120| 79 20 74 69 6d 65 73 20 | 69 74 20 72 65 73 65 74 |y times |it reset|
|00000130| 73 20 74 68 65 20 65 72 | 72 6f 72 20 61 6e 64 20 |s the er|ror and |
|00000140| 72 65 2d 65 76 61 6c 75 | 61 74 65 73 20 74 68 65 |re-evalu|ates the|
|00000150| 20 76 61 6c 75 65 73 2e | 20 20 54 68 69 73 20 72 | values.|  This r|
|00000160| 65 6d 6f 76 65 73 20 74 | 68 65 20 6f 66 66 73 65 |emoves t|he offse|
|00000170| 74 20 74 68 61 74 20 6f | 63 63 75 72 73 20 62 65 |t that o|ccurs be|
|00000180| 74 77 65 65 6e 20 74 68 | 65 20 50 56 20 61 6e 64 |tween th|e PV and|
|00000190| 20 53 50 2e ac 00 00 00 | 57 68 65 6e 20 79 6f 75 | SP.....|When you|
|000001a0| 20 6d 61 6b 65 20 63 68 | 61 6e 67 65 73 20 74 6f | make ch|anges to|
|000001b0| 20 74 68 65 20 50 49 44 | 20 76 61 72 69 61 62 6c | the PID| variabl|
|000001c0| 65 73 2c 20 63 61 75 73 | 65 20 61 6e 20 75 70 73 |es, caus|e an ups|
|000001d0| 65 74 20 62 79 20 63 68 | 61 6e 67 69 6e 67 20 74 |et by ch|anging t|
|000001e0| 68 65 20 73 65 74 70 6f | 69 6e 74 20 28 53 50 29 |he setpo|int (SP)|
|000001f0| 2e 20 20 54 68 69 73 20 | 77 69 6c 6c 20 73 68 6f |.  This |will sho|
|00000200| 77 20 79 6f 75 2c 20 76 | 69 61 20 74 68 65 20 67 |w you, v|ia the g|
|00000210| 72 61 70 68 73 2c 20 68 | 6f 77 20 77 65 6c 6c 20 |raphs, h|ow well |
|00000220| 79 6f 75 20 61 72 65 20 | 22 74 75 6e 69 6e 67 22 |you are |"tuning"|
|00000230| 20 74 68 65 20 63 6f 6e | 74 72 6f 6c 20 6c 6f 6f | the con|trol loo|
|00000240| 70 2e 20 20 02 01 00 00 | 57 68 65 6e 20 74 68 65 |p.  ....|When the|
|00000250| 20 70 72 6f 67 72 61 6d | 20 73 74 61 72 74 73 2c | program| starts,|
|00000260| 20 74 68 65 20 73 79 73 | 74 65 6d 20 69 73 20 61 | the sys|tem is a|
|00000270| 6c 72 65 61 64 79 20 70 | 6c 61 63 65 64 20 69 6e |lready p|laced in|
|00000280| 74 6f 20 61 75 74 6f 6d | 61 74 69 63 20 6d 6f 64 |to autom|atic mod|
|00000290| 65 20 77 69 74 68 20 61 | 20 73 6f 6d 65 77 68 61 |e with a| somewha|
|000002a0| 74 20 73 74 61 62 6c 65 | 20 73 65 74 74 69 6e 67 |t stable| setting|
|000002b0| 20 66 6f 72 20 74 68 65 | 20 50 49 44 20 61 6c 67 | for the| PID alg|
|000002c0| 6f 72 69 74 68 6d 2e 20 | 20 54 68 65 20 6f 70 65 |orithm. | The ope|
|000002d0| 72 61 74 6f 72 20 63 61 | 6e 20 61 6c 74 65 72 20 |rator ca|n alter |
|000002e0| 74 68 65 20 69 6e 6c 65 | 74 20 76 61 6c 76 65 20 |the inle|t valve |
|000002f0| 70 6f 73 69 74 69 6f 6e | 20 61 6e 64 20 73 65 65 |position| and see|
|00000300| 20 68 6f 77 20 74 68 65 | 20 63 6f 6d 70 75 74 65 | how the| compute|
|00000310| 72 20 61 64 6a 75 73 74 | 73 20 74 68 65 20 6f 75 |r adjust|s the ou|
|00000320| 74 70 75 74 20 76 61 6c | 76 65 20 74 6f 20 6d 61 |tput val|ve to ma|
|00000330| 69 6e 74 61 69 6e 20 74 | 68 65 20 6c 65 76 65 6c |intain t|he level|
|00000340| 20 73 65 74 70 6f 69 6e | 74 2e 08 01 00 00 54 68 | setpoin|t.....Th|
|00000350| 65 20 77 61 74 65 72 20 | 74 61 6e 6b 20 69 73 20 |e water |tank is |
|00000360| 63 6f 6e 73 74 72 75 63 | 74 65 64 20 6f 66 20 61 |construc|ted of a|
|00000370| 20 74 61 6e 6b 20 77 69 | 74 68 20 61 20 6d 61 6e | tank wi|th a man|
|00000380| 75 61 6c 20 69 6e 70 75 | 74 20 76 61 6c 76 65 20 |ual inpu|t valve |
|00000390| 74 68 61 74 20 74 68 65 | 20 6d 61 63 68 69 6e 65 |that the| machine|
|000003a0| 20 6f 70 65 72 61 74 6f | 72 20 63 61 6e 20 63 6f | operato|r can co|
|000003b0| 6e 74 72 6f 6c 2c 20 61 | 20 77 61 74 65 72 20 74 |ntrol, a| water t|
|000003c0| 61 6e 6b 20 77 69 74 68 | 20 61 20 6c 65 76 65 6c |ank with| a level|
|000003d0| 20 73 65 6e 73 6f 72 2c | 20 61 6e 64 20 61 6e 20 | sensor,| and an |
|000003e0| 6f 75 74 70 75 74 20 76 | 61 6c 76 65 20 74 68 61 |output v|alve tha|
|000003f0| 74 20 63 61 6e 20 65 69 | 74 68 65 72 20 62 65 20 |t can ei|ther be |
|00000400| 63 6f 6e 74 72 6f 6c 6c | 65 64 20 6d 61 6e 75 61 |controll|ed manua|
|00000410| 6c 6c 79 2c 20 6f 72 20 | 62 65 20 63 6f 6e 74 72 |lly, or |be contr|
|00000420| 6f 6c 6c 65 64 20 62 79 | 20 74 68 65 20 63 6f 6d |olled by| the com|
|00000430| 70 75 74 65 72 20 75 73 | 69 6e 67 20 74 68 65 20 |puter us|ing the |
|00000440| 50 49 44 20 63 6f 6e 74 | 72 6f 6c 20 61 6c 67 6f |PID cont|rol algo|
|00000450| 72 69 74 68 6d 2e c3 00 | 00 00 42 65 63 61 75 73 |rithm...|..Becaus|
|00000460| 65 20 74 68 65 72 65 20 | 61 72 65 20 73 6f 20 6d |e there |are so m|
|00000470| 61 6e 79 20 76 61 72 69 | 61 74 69 6f 6e 73 20 74 |any vari|ations t|
|00000480| 6f 20 50 49 44 20 63 6f | 6e 74 72 6f 6c 20 6c 6f |o PID co|ntrol lo|
|00000490| 6f 70 73 20 62 65 74 77 | 65 65 6e 20 6d 61 6e 75 |ops betw|een manu|
|000004a0| 66 61 63 74 75 72 65 72 | 73 20 6f 66 20 63 6f 6e |facturer|s of con|
|000004b0| 74 72 6f 6c 6c 65 72 73 | 2c 20 49 20 68 61 76 65 |trollers|, I have|
|000004c0| 20 63 68 6f 73 65 6e 20 | 61 20 62 61 73 69 63 20 | chosen |a basic |
|000004d0| 61 6c 67 6f 72 69 74 68 | 6d 20 74 68 61 74 20 77 |algorith|m that w|
|000004e0| 69 6c 6c 20 61 6c 6c 6f | 77 20 79 6f 75 20 74 6f |ill allo|w you to|
|000004f0| 20 65 78 70 65 72 69 6d | 65 6e 74 20 77 69 74 68 | experim|ent with|
|00000500| 20 65 61 63 68 20 6f 66 | 20 74 68 65 20 33 20 50 | each of| the 3 P|
|00000510| 49 44 20 76 61 72 69 61 | 62 6c 65 73 2e 97 00 00 |ID varia|bles....|
|00000520| 00 54 68 65 20 6f 62 6a | 65 63 74 69 76 65 20 6f |.The obj|ective o|
|00000530| 66 20 74 68 69 73 20 70 | 72 6f 67 72 61 6d 20 69 |f this p|rogram i|
|00000540| 73 20 74 6f 20 65 78 61 | 6d 69 6e 65 20 61 20 73 |s to exa|mine a s|
|00000550| 69 6d 70 6c 69 66 69 65 | 64 20 50 49 44 20 63 6f |implifie|d PID co|
|00000560| 6e 74 72 6f 6c 20 6c 6f | 6f 70 20 75 73 65 64 20 |ntrol lo|op used |
|00000570| 69 6e 20 61 6e 20 69 6e | 64 75 73 74 72 69 61 6c |in an in|dustrial|
|00000580| 20 73 65 74 74 69 6e 67 | 2c 20 69 6e 20 74 68 69 | setting|, in thi|
|00000590| 73 20 63 61 73 65 2c 20 | 61 20 77 61 74 65 72 20 |s case, |a water |
|000005a0| 74 61 6e 6b 20 77 69 74 | 68 20 6c 65 76 65 6c 20 |tank wit|h level |
|000005b0| 63 6f 6e 74 72 6f 6c 2e |                         |control.|        |
+--------+-------------------------+-------------------------+--------+--------+