Chng 3:

GII THIU THUT TON IU KHIN

PI D

3.1. Gii thiu b iu khin PID:
B iu khin PID l mt b iu khin vng kn c s dng rng ri trong
cng nghip. S dng b iu khin PID iu chnh sai lch gia gi tr o c ca
h thng (process variable) vi gi tr t (setpoint) bng cch tnh ton v iu chnh gi
tr iu khin ng ra.
S mt h thng iu khin dng PID:









Mt b iu khin PID gm 3 thnh phn: P (proportional) to tn hiu iu
khin t l vi sai lch (error e), I (integral) to tn hiu iu khin t l vi tch phn
theo thi gian ca sai lch, v D (derivative) to tn hiu iu khin t l vi vi phn
theo thi gian ca sai lch.
a) Khu P:
Khu P to ra tn hiu iu khin t l vi gi tr ca sai lch. Vic ny c thc
hin bng cch nhn sai lch e vi hng s K
P
gi l hng s t l.
Khu P c tnh da trn cng thc:

Vi: P
out
: gi tr ng ra
K
P
: hng s t l

Hnh 1 S h thng iu khin dng PID
e: sai lch: e = SP PV
S khi ca khu P:

Hm truyn:
p p
G (s) = K

Nu ch c khu P th trong mi trng hp sai s tnh lun xut hin, tr khi gi
tr u vo ca h thng bng 0 hoc bng vi gi tr mong mun. Trong hnh sau th
hin sai s tnh xut hin khi thay i gi tr t.

Hnh 2 p ng ca khu P
Nu gi tr khu P qu ln s lm cho h thng mt n nh.
b) Khu I:
Khu I cng thm tng cc sai s trc vo gi tr iu khin. Vic tnh tng
cc sai s c thc hin lin tc cho n khi gi tr t c bng vi gi tr t, v kt
qu l khi h cn bng th sai s bng 0.
Khu I c tnh theo cng thc:

Vi: I
OUT
: gi tr ng ra khu I
K
i
: h s tch phn
e: sai s: e = SP PV
S khi khu I:

Hm truyn:
I
I.
K U(s) 1
G(s) = = =
E(s) s T s

Khu I thng i km vi khu P, hp thnh b iu khin PI. Nu ch s dng
khu I th p ng ca h thng s chm v thng b dao ng.
Hnh sau ch ra s khc bit gia khu I v PI:

Hnh 3 p ng ca khu I v PI
Ta c th nhn thy l khu I lm cho p ng ca h thng b chm i rt nhiu,
cn khu PI gip trit tiu sai s xc lp.
c) Khu D:
Khu D cng thm tc thay i sai s vo gi tr iu khin ng ra. Nu sai
s thay i nhanh th s to ra thnh phn cng thm vo gi tr iu khin. iu ny ci
thin p ng ca h thng, gip trng thi ca h thng thay i nhanh chng v mau
chng t c gi tr mong mun.
Khu D c tnh theo cng thc:

Vi: D
OUT:
ng ra khu D
K
D
: h s vi phn
e: sai s: e = SP PV
S khi khu D:

Hm truyn:
( )
( )
( )
d
U s
G s K s
E s

Khu D thng i km vi khu P thnh b PD, hoc vi PI thnh b PID.

Hnh 4 p ng ca khu D v PD
Theo hnh trn, b PD to p ng c thi gian tng trng nh hn so vi b P. Nu
gi tr D qu ln s lm cho h thng khng n nh.
d) Tng hp ba khu B iu khin PID:
B iu khin PID l cu trc ghp song song gia 3 khu P, I v D.
Phng trnh vi phn ca b PID l tng:
P I D
de(t)
u(t) = K e(t)+ K e(t)dt + K
dt

S khi:

p ng ca b PID:

Hnh 5 p ng ca khu P, PI v PID
e) Ri rc ha b iu khin PID:
B iu khin s khng th ly mu lin tc theo thi gian, n cn c ri rc
mt vi mc. Khi cho h s ly mu ngn bn trong thi gian vi phn c th t c xp
x mt sai phn c gii hn v tch phn qua vic ly tng. Chng ta s quan tm mi
dng mt thi im, v sai s c tnh mi khong ly mu:
e(n) = X(n) Y(n)
B PID ri rc c sai s, tnh ton v xut ng ra iu khin theo mt khong
thi gian xc nh (khng lin tc) thi gian ly mu T. Thi gian ly mu cn nh hn
n v thi gian ca h thng.
Khng ging cc thut ton iu khin n gin khc, b iu khin PID c kh
nng xut tn hiu ng ra da trn gi tr trc ca sai s cng nh tc thay i sai
s. iu ny gip cho qu trnh iu khin chnh xc v n nh hn.

Hnh 6 S khi PID
Hm truyn ca h thng:

Hm chuyn i:

Tnh gn ng theo cng thc:

Vi n l bc ri rc ti t.
Kt qu thu c:

Vi:

3.2. Thit k b iu khin PID:
Lut iu khin thng c chn trn c s xc nh c m hnh ton hc ca
i tng phi ph hp vi i tng cng nh tha mn yu cu ca bi ton thit k.
Trong trng hp khng th xc nh c m hnh ton hc ca i tng, c th
tm lut iu khin cng nh cc tham s ca b iu khin thng qua thc nghim.
Ziegler v Nichols a ra phng php xc nh thng s ti u ca b PID l da
trn th hm qu ca i tng hoc da trn cc gi tr ti hn thu c qua thc
nghim.
a) S dng hm qu ca i tng:
Phng php ny cn c tn l phng php th nht ca Ziegler Nichols. N c
nhim v xc nh cc thng s K
p
, T
N
, T
V
cho cc b iu khin P, PI v PID trn c
s i tng c th m t xp x bi hm truyn t dng:
t
-Ts
Ke
G(s) =
Ts+1

Sao cho h thng nhanh chng v trng thi xc lp v vt l
max
khng vt qu
mt gii hn cho php, khong 40% so vi
t
t h h ) ( lim ) ( :
% 40
) (
max
max
h
h

Ba tham s T
t
(thi gian tr), K (h s khuch i) v T (hng s thi gian qun tnh)
ca m hnh xp x c th xc nh c gn ng t th hm qu h(t) ca i
tng. Nu i tng c dng nh hnh 7a m t th t th hm h(t) ta c ra c:
-T
t
l khong thi gian tn hiu ra h(t) cha c phn ng ngay vi tn hiu kch thch
1(t) ti u vo.
-K l gi tr gii hn
t
t h h ) ( lim ) (
-Gi A l im kt thc khong thi gian tr , tc l im trn trc honh c honh
bng T
t
. Khi T l khong cn thit sau T
t
tip tuyn ca h(t) ti A t c gi
tr K.



a) b)
Hnh 7 Xc nh tham s cho m hnh xp x bc nht c tr
Trng hp hm qu h(t) khng c dng l tng nh hnh 7a, nhng c dng
gn ging nh hnh ch S ca khu qun tnh bc 2 hoc bc n nh m t hnh 7b th ba
tham s K, T
t
, T c xc nh xp x nh sau :
-K l gi tr gii hn ) ( h .
-K ng tip tuyn ca h(t) ti im un ca n. Khi T
t
s l honh giao im
ca tip tuyn vi trc honh v T l khong thi gian cn thit ng tip tuyn i
c t gi tr 0 ti c gi tr K.
Nh vy ta thy iu kin p dng c phng php xp x m hnh bc nht c
tr ca i tng l i tng phi n nh, khng c dao ng v t nht hm qu ca
n phi c dng ch S. Sau khi c cc tham s cho m hnh xp x ca i tng, ta
chn cc thng s ca b iu khin theo bng sau :
B iu khin K
P
T
N
T
V

P
t
T K
T
.

_ _
PI
t
T K
T
.
9 , 0

t
T
3
10

_
PID
t
T K
T
.
2 , 1

t
T . 2
t
T . 5 , 0

Bng 1 Tnh ton thng s b iu khin
T suy ra :
H s tch phn :
P
I
N
K
K =
T

H s vi phn :
D P V
K = K .T

b) S dng cc gi tr ti hn thu c t thc nghim:
Trong trng hp khng th xy dng phng php m hnh cho i tng th
phng php thit k thch hp l phng php thc nghim. Thc nghim ch c th
tin hnh nu h thng m bo iu kin: khi a trng thi lm vic ca h n bin
gii n nh th mi gi tr ca tn hiu trong h thng iu phi nm trong gii hn cho
php.
Phng php ny cn c tn l phng php th hai ca Ziegler Nichols. iu
c bit l phng php ny khng s dng m hnh ton hc ca i tng iu khin,
ngay c m hnh xp x gn ng.


Cc bc tin hnh nh sau :
-Trc tin, s dng b P lp vo h kn (hoc dng b PID v chnh cc thnh phn
K
I
v K
D
v gi tr 0). Khi ng qu trnh vi h s khuch i K
P
thp, sau tng dn
K
P
ti gi tr ti hn K
gh
h kn ch gii hn n nh, tc l tn hiu ra h(t) c
dng dao ng iu ha. Xc nh chu k ti hn T
gh
ca dao ng.

Hnh 8 M hnh iu khin vi K
gh

Hnh 9 Xc nh h s khuch i ti hn
- Xc nh thng s ca b iu khin theo bng sau :
B iu khin K
P
T
N
T
V

P 0,5 K
gh
_ _
PI 0,45 K
gh
0,83 T
gh
_
PID 0,6 K
gh
0,5 T
gh
0,125 T
gh

Bng 2: Thng s b iu khin theo thc nghim

3.3. Lp trnh PID trong S7-200
a) Lnh vng lp PID
Lnh vng lp PID tnh ton vng lp PID (PID Loop) theo cc u vo v nhng
thng s t bng c nh a ch bi TBL.
Nhng li c th c gy nn bi lnh ny
-Bit c bit SM4.3 = 1 : li Run Time
-Li 0006: a ch gin tip
-Bit c bit SM1.1 = 1: li trn (Overflow).
Lnh PID Loop (Proportional, Integral, Derivative Loop) c s dng tnh ton
vng lp PID. Lnh ny ch c thc hin nu nh nh ca ngn xp bng 1 trong STL
hay c Power Flow trong LAD. Lnh ny c hai ton hng : [TBL] l a ch byte u
tin ca mt bng d liu cn [LOOP] l mt s nm trong khong t 0 n 7. iu ny
cng c ngha l ch c ti a 8 lnh PID Loop c th c s dng trong mt chng
trnh. Nu c hai bng khc nhau i na cng vn nh hng n nhau v c th gy
nhng hu qu khng lng trc c.
Bng d liu ca lnh PID Loop bao gm 09 tham s dng iu khin hot ng
ca vng lp:
-gi tr tc thi (current value)
- gi tr k trc (current and previous value) ca bin iu khin (process vafiable),
-gi tr yu cu (setpoint),
- gi tr x l (output-u ra ca PID),
-h s khuch i (Gain),
-thi gian ly mu (sample time),
-h s tch phn (integral time reset),
-h s vi phn (derivative time rate) v
- integral sum (bias)
thc hin lnh ny mt tn sut ly mu xc nh, n phi hoc l c t trong
mt ngt thi gian hoc l c thc hin trong chng trnh chnh qua kim sot bi
mt b nh thi. ng thi, thi gian ly mu tng ng phi c a vo bng d
liu ca lnh.
Trong STEP 7 Micro / Win 32, chng ta c th s dng PID Wizard to thut ton
vi PID cho mt mch iu khin kn bng cch chn Tools Instruction Wizard -> PID t
menu chnh.( c trnh by trong chng 2 phn PID)
trng thi n nh, mt b iu khin PID s iu chnh sao cho sai s gia gi tr
yu cu (setpoint SP) v gi tr iu khin (process variable PV) bng 0. Nguyn l ca
mt b iu khin nh vy th hin trong phng trnh sau:

Trong :
-M(t) : u ra ca PID (i lng x l) nh mt hm theo thi gian
-K
c
: hng s khuch i
-e: sai s e = SP PV
-M
i
: gi tr ban u ca PID
Nhm mc ch p dng b iu khin PID trn my vi tnh hay PLC ni ring v
trong k thut s ni chung, chng ta phi tin hnh ri rc ha phng trnh nu trn.
C th l ly mu v lng t ha cc bin. Phng trnh c vit li nh sau:

Trong :
-M
n
: u ra ca PID (i lng x l) thi im ly mu n
-K
c
: hng s khuch i
-e
n
: sai s thi im ly mu n
e
n
= SP
n
- PV
n

-e
n-1
: sai s thi im ly mu ngay trc (n 1)
e
n-1
= SP
n-1
- PV
n-1

-K
i
: hng s khuch i ca thnh phn tch phn
-M
i
: gi tr ban u ca PID
-K
d
: hng s khuch i ca thnh phn vi phn
T phng trnh ny ta nhn thy rng, nu nh thnh phn t l (proportional) ch l
hm ca sai s thi im ly mu th thnh phn vi phn (differential) l hm s ca sai
s thi im ly mu u tin cho n thi im ly mu hin ti. Trong k thut s,
lu li tt c cc sai s l iu khng th thc hin, cng nh tht s khng cn thit.
V gi tr x l lun c tnh ton mi thi im ly mu, k t thi im u tin,
nn ch cn lu li gi tr k trc ca sai s v thnh phn tch phn. Phng trnh c
n gin thnh:

Trong :
-M
n
: u ra ca PID (i lng x l) thi im ly mu n
-K
c
: hng s khuch i
-e
n
: sai s thi im ly mu
e
n
= SP
n
- PV
n

-e
n-1
: sai s thi im ly mu ngay trc (n 1)
e
n-1
= SP
n-1
- PV
n-1

-K
i
: hng s khuch i ca thnh phn tch phn
-M
x
: gi tr thnh phn tch phn thi im ly mu k trc (n-1)
-K
d
: hng s khuch i ca thnh phn vi phn
Mt cch vit khc ca phng trnh:
M
n
= MP
n
+ MI
n
+ MD
n

Trong :
-M
n
: u ra ca PID (i lng x l) thi im ly mu n
-MP
n
: thnh phn t l ca u ra PID thi im ly mu n
-MI
n
: thnh phn tch phn ca u ra PID thi im ly mu n
-MD
n
: thnh phn vi phn ca u ra PID thi im ly mu n
b) Ta ln lt xt n tng thnh phn mt ca i lng x l:
**Thnh phn t l
Thnh phn t l (proportional) MP l tch ca hng s khuch i K
c
vi sai s e.
Trong K
c
c trng cho nhy ca u ra PID ( K
c
cng ln, b iu khin PID cng
nhy) cn e l sai s gia i lng yu cu (setpoint SP) v i lng thc t (process
variable PV). Phng trnh biu din:
MP
n
= K
c
* (SP
n
- PV
n
)
Trong :
-MP
n
: thnh phn t l ca u ra PID thi im ly mu n
-K
c
: hng s khuch i
-SP
n
: i lng yu cu ti thi im ly mu n
-PV
n
: i lng thc t ti thi im ly mu n
**Thnh phn tch phn
Thnh phn tch phn (integral) MI t l vi tng cc sai s qua thi gian, th hin
bng phng trnh:
MI
n
= K
C
* T
s
/ T
i
* (SP
n
- PV
n
) + MX
Trong :
- MI
n
: thnh phn tch phn ca u ra PID thi im ly mu n
- K
c
: hng s khuch i
- T
s
: thi gian ly mu
-T
i
: h s tch phn
-SP
n
: i lng yu cu ti thi im ly mu n
- PV
n
: i lng thc t ti thi im ly mu n
-MX: gi tr ca thnh phn tch phn thi im ly mu k trc (n-1), cn c gi l
integral sum hay bias.
Sau khi tnh ton gi tr MI
n
, bias MX c thay th bi chnh gi tr MI
n
vi kh
nng c th b iu chnh hoc ct (chn gii hn), iu ny s c ni r phn sau.
Gi tr ban u ca bias MX, M
i
thng c ly l gi tr ca u ra b PID ngay trc
thi im thc hin lnh PID u tin. Cc hng s khc nh hng n thnh phn ny
l : K
c
hng s khuch i, T
s
thi gian ly mu v T
i
h s tch phn l c trng
cho nh hng ca thnh phn ny ln ton b i lng x l.
**Thnh phn vi phn
Thnh phn vi phn (differential) MD t l vi thay i ca sai s, th hin qua
phng trnh:
MD
n
= K
C
* T
d
/ T
s
* ((SP
n
- PV
n
) - (SP
n - 1
- PV
n - 1
))

Vi c tnh c qun tnh ca mi h vt cht, chng ta c th gi thit rng i lng
thc t PV khng bao gi c s thay i mt cch gin on. Tuy nhin i lng yu
cu th c th tng gim gy khc (do tnh trn l thuyt). V bn cht ton hc, thnh
phn vi phn l php ly o hm nn nhng s thay i gin on c th gy nn cc gi
tr v cng ln u ra. trnh hin tng ny, trong phng trnh trn ta gi thit
SP
n
= SP
n 1
v c th vit:
MD
n
= K
C
* T
d
/ T
s
* (PV
n - 1
- PV
n
)
Trong :
- MD
n
: thnh phn vi phn ca u ra PID thi im ly mu n
- K
c
: hng s khuch i
- T
s
: thi gian ly mu
- T
d
: h s vi phn
- SP
n
: i lng yu cu ti thi im ly mu n
- SP
n-1
: i lng yu cu ti thi im ly mu n-1
- PV
n
: i lng thc t ti thi im ly mu n
- PV
n-1
: i lng thc t ti thi im ly mu n-1
Nh vy trn thc t khng cn nh sai s thi im ly mu k trc m ch cn
nh i lng thc t. Trong ln tnh ton u tin PV
n-1
= PV
n
Ty theo ng dng thc t, c th b bt thnh phn trong b iu khin PID ch
khng nht thit phi bao gm c ba thnh phn, chng hn c th to b iu khin t
l (P) hay b iu khin ch cha cc thnh phn t l v tch phn (PI). S la chn ny
da trn cch t cc tham s.
Nu mun b thnh phn tch phn (b I), ta chn h s tch phn bng v cng (T
i
=
0). Trong trng hp ny, thnh phn tch phn vn khng nht thit bng khng m c
th bng mt gi tr khng i thng qu gi tr bias MX ban u.
Nu mun b thnh phn vi phn (b D), ta chn h s vi phn bng khng (T
d
=
0.0). Nu mun b thnh phn t l (b P), ta chn h s khuch i bng khng (K
c
=
0.0). Trong trng hp ny, v cc hng s ca cc thnh phn tch phn v vi phn c
tnh theo K
c
nn i vi nhng thnh phn y, K
c
c hiu l bng 1.0
Mt b iu kin PID c hai u vo: i lng yu cu v i lng thc t. y l
nhng i lng tht trong ng dng nh nhit , p sut, tc ,. a vo tnh
ton trong mt b iu khin, chng phi c o, chuyn i v gi tr thch hp v
chun ha (nu cn). Cc bc ny u cn thit cho mt b iu khin PID, b ny i
hi cc gi tr u vo l nhng gi tr s thc (du phy ng) nm trong khong t 0.0
n 1.0
Thng thng, nhng gi tr o c c a vo PLC qua cc u vo tng t
(quy v in p trong khong 0 10VDC hoc dng in 0 20mADC) thnh nhng gi
tr s nguyn 16 bit c du. Trc ht nhng gi tr ny phi c i thnh cc s thc
32 bit (du phy ng).
Bc tip theo l chun ha v khong [0.0 1.0] theo phng trnh:
N
Norm
= (N
Raw
/ Span) + Offset
Trong :
N
Norm
: l gi tr chun ha, i din cho mt i lng tht
N
Raw
: l gi tr thc cha chun ha, i din cho mt i lng tht
Span : l hiu ca gi tr ln nht c th c tr i gi tr nh nht c th c ca gi tr
cha chun ha. Trong S7 200 thng l 32000 0 = 32000 i vi cc i lng
khng i du (unipolar) v khi offset = 0.0 hay 32000 (-32000) = 64000 i vi
cc i lng c th va c gi tr dng va c gi tr m (bipolar) v khi Offset =
0.5
Mt cch logic chng ta thy rng cn phi c qu trnh ngc li vi qu trnh trn
i vi gi tr u ra ca b iu khin PID. Ngha l bin i v a v thang gi tr
thch hp cho u ra t gi tr u ra chun ha trong khong 0.0 n 1.0. Phng
trnh thut ton
R
Scale
= (M
Norm
- Offset) * Span
Trong :
-R
Scale
l gi tr thch hp cho u ra, i din cho mt i lng tht
-M
Norm
l gi tr u ra chun ha, i din cho mt i lng tht
-Span l hiu ca gi tr ln nht c th c tr i gi tr nh nht c th c ca gi tr
cha chun ha. Trong S7 200 thng 32000-0 = 32000 i vi cc i lng khng
du (unipolar) v khi Offset = 0.0 hay 32000 (-32000) = 64000 i vi cc i
lng c th va c gi tr dng va c gi tr m (bipolar) v khi Offset = 0.5.
Chng ta thng ni v vng lp iu khin thun khi h s khuch i dng (K
c
>
0) hay vng lp iu khin o (nghch) khi h s khuch i m (K
c
< 0). Trong trng
hp khng c thnh phn P (K
c
= 0), ta xt du ca cc h s T
i
v T
d
Cc gi tr yu cu v gi tr thc t (bin iu khin) l nhng u vo ca b iu
khin PID, do cc trng tng ng vi chng trong bng d liu ca PID s khng b
thay i bi lnh ny.
Ngc li trng tng ng vi u ra c cp nht bi PID. N s b ct (chn)
nu vt ra ngoi khong cho php [0.0 1.0].
Nu c s dng thnh phn tch phn (I), bias cng c cp nht v li c dng
lm u vo cho ln ly mu k tip. Tuy nhin n c th c iu chnh trong trng
hp u ra b chn (v vt ra ngoi khong [0.0 1.0]) theo phng trnh sau:
-Khi u ra ln hn 1.0 : MX = 1.0 - (MPn + MDn )
-Khi u ra nh hn 0.0: MX = - (MPn + MDn )
Trong :
-MX l gi tr bias c iu chnh
-MPn : l gi tr thnh phn t l (P) ca u ra thi im ly mu n
-MDn l gi tr thnh phn vi phn (D) ca u ra thi im ly mu n
-Mn l gi tr ca u ra thi im ly mu n
Bng s iu chnh ny, gi tr u ra s c a v khong hp l. Gi tr bias cng
b chn trong khong [0.0 1.0] v ghi vo bng d liu cho ln ly mu tip theo s
dng.
Gi tr bias trong bng d liu c th thay i c ngay trc khi thc hin lnh PID
nhng phi ch y l mt s thc nm trong khong [0.0 1.0].
Gi tr i lng thc t ca ln ly mu trc c lu li trong bng d liu tnh
ton thnh phn vi phn, khng bao gi c thay i gi tr ny.
Mt b iu khin PID c th hot ng mt trong hai ch : Auto hoc Manual.
Thc ra khng c ch hot ng no c xy dng sn cho PID trong S7-200. S
tnh ton ch c thc hin khi c dng nng lng (powerflow) n u En (enable)
ca b PID. PID c xem nh hot ng ch Auto khi n thcu75 hin tnh ton
mt cch tun hon lin tc. Trong trng hp ngc li, PID c xem nh hot ng
ch Manual. Vn chng ta cn xt n l s chuyn i m bo tnh lin tc t
ch Manual sang ch Auto. iu i hi u ra c tnh trong ch Manual
phi c ghi vo u vo thi im chuyn i: khi dng nng lng thay i t 0 ln
1. Lc CPU s thc hin mt lot thao tc cn thit:
-t gi tr yu cu bng gi tr thc t: SP
n
= PV
n

- t gi tr k trc ca gi tr thc t: PV
n-1
= PV
n

-t bias bng gi tr u ra: MX = M
n
Bit nh ca mt b PID c gi tr mc nh l 1 (ON), c t khi CPU khi ng
hay chuyn t ch STOP sang ch RUN. iu cng c ngha l khi b PID
c thc hin ln u tin, CPU khng nhn bit s chuyn i trng thi ca dng
nng lng t 0 ln 1 v do khng thc hin cc thao tc nu trn.
Lnh PID l mt lnh n gin nhng rt mnh trong vic tnh ton thut ton PID.
Nu cn mt s tnh nng khc, v d nh bo ng hay nhng thay i c bit, c th
s dng cc lnh khc can thip. Khi chng trnh s dng c bin dch, li bin
dch c th xut hin nu a ch bng tham s [TBL] hoc ton hng [LOOP] ca b PID
vt ra ngoi phm vi cho php (out of range). Mt s phm vi cho php khng c
kim tra, v vy ngi lp trnh phi ch . Chng hn nh nhng gi tr yu cu v thc
t phi l cc s thc nm trong khong t 0.0 n 1.0 cng nh cc gi tr thc t k
trc hay bias, nu c s dng, khng c vt ra ngoi khong [0.0 1.0]. Nu li
xut hin trong qu trnh tnh ton thut ton PID, bit c bit SM1.1 (overflow) s bng
1 v qu trnh tnh ton b dng li. Trong nhng trng hp nh vy , u ra ca b PID
c th cha c hon thnh, v vy ngi lp trnh phi ch kim tra bit c bit ny
s dng u ra mt cch hp l cng nh iu chnh cc u vo nu cn thit. nh
dng bng cc tham s ca mt b PID bao gm 36 bytes nh sau:


-0 Bin x l (process variable) PVn : Bao gm bin x l, chun ho t 0 n 1.
-4 im t (setpoint) SPn : Bao gm im t, chun ho t 0 n 1.
-8 Output Mn : Ng ra PID c tnh ton, chun ho t l t 0 n 1.
-12 li vng (Gain) Kc : Bao gm li l hng s t l. C th dng hoc m.
-16 Thi gian ly mu (Sample time) Ts : Thi gian ly mu, n v l giy, l s dng.
-20 Thi gian tch phn (Integral time) hoc reset Ti : Cha thi gian tch phn v tc
(rate), n v tnh: pht, l s dng.
-24 Thi gian vi phn (Derivative time) hoc reset TD : Cha thi gian vi phn v tc
(rate), n v tnh: pht, l s dng.
-28 Mc ngng (bias) MX : Bao gm mc ngng v gi tr tng vi phn nm t 0 n
1.
-32 Bin x l trc PVn-1 : Tr s o gi tr ca bin x l trc c lu t lc
thc thi lnh PID cui cng.