Fixed ramp generator and tests
This commit is contained in:
@@ -116,13 +116,13 @@
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</Hides>
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</DataType>
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</DataTypes>
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<Project ProjectGUID="{775BE4FD-89CE-48D5-8E68-5C84AF95981A}" Target64Bit="true" ShowHideConfigurations="#x6">
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<Project ProjectGUID="{775BE4FD-89CE-48D5-8E68-5C84AF95981A}" TargetNetId="5.167.199.178.1.1" Target64Bit="true" ShowHideConfigurations="#x6">
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<System>
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<Settings MaxCpus="2"/>
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<Licenses>
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<Target>
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<ManualSelect>{9FD32FC8-0CF9-4C5B-95FB-F35423496A77}</ManualSelect>
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<LicenseDevice DongleHardwareId="2" DongleDevice="#x71010002" DongleLevel="92" DongleSystemId="{F4D452BD-01EA-8CE8-F538-CCB335BD88CC}" DongleSerialNumber="000btjb7" DongleCacheLicense="false"/>
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<LicenseDevice Disabled="true" DongleHardwareId="2" DongleDevice="#x71010002" DongleLevel="92" DongleSerialNumber="000btjb7" DongleCacheLicense="false"/>
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</Target>
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</Licenses>
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<Tasks>
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@@ -136,7 +136,7 @@
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</System>
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<Plc>
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<Project GUID="{4E62D9E7-436C-457D-8DC4-82D2FEF91C96}" Name="BasicComponents" PrjFilePath="BasicComponents\BasicComponents.plcproj" TmcFilePath="BasicComponents\BasicComponents.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" CopyTmcToTarget="true" CopyTpyToTarget="false" SymbolicMapping="true">
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<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{26169BD6-1E5A-D1C1-C99A-F9225BAE6710}" TmcPath="BasicComponents\BasicComponents.tmc">
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<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{2FCBDB60-54F0-F883-C574-3EE85CA8FA87}" TmcPath="BasicComponents\BasicComponents.tmc">
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<Name>BasicComponents Instance</Name>
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<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
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<Vars VarGrpType="2" AreaNo="1">
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@@ -82,7 +82,7 @@
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<Compile Include="POUs\Components\Controller\FB_PID.TcPOU">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="POUs\Components\Controller\FB_RampGen.TcPOU">
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<Compile Include="POUs\Components\Controller\FB_RampGenerator.TcPOU">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="POUs\Components\EventListener\FB_EventListener.TcPOU">
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@@ -107,9 +107,6 @@
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<Compile Include="POUs\Components\Utilities\FB_Blinker.TcPOU">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="POUs\Components\Utilities\FB_RampGenerator.TcPOU">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="POUs\Components\Utilities\FB_ReleaseSignal.TcPOU">
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<SubType>Code</SubType>
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</Compile>
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@@ -154,9 +151,6 @@
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<Compile Include="POUs\HMI\Datentypen\ST_HMI_INTERLOCK.TcDUT">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="POUs\HMI\Datentypen\ST_HMI_ORP_SENSOR_DATA.TcDUT">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="POUs\HMI\Datentypen\ST_HMI_VALVE_DATA.TcDUT">
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<SubType>Code</SubType>
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</Compile>
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@@ -1,86 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1">
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<POU Name="FB_RampGen" Id="{61136989-8ee2-49fa-af2b-1b579e85353f}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_RampGen
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VAR_INPUT
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rTarget : REAL; // Zielwert
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rRiseRate : REAL; // Steigung positiv [Einheit/s]
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rFallRate : REAL; // Steigung negativ [Einheit/s]
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xEnable : BOOL;
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xHold : BOOL; // Rampe einfrieren
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xReset : BOOL; // Ausgang sofort auf Ziel setzen
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END_VAR
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VAR_OUTPUT
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rOut : REAL; // Rampenausgang
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xBusy : BOOL; // TRUE solange Rampe läuft
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END_VAR
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VAR
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_xFirstCycle : BOOL := TRUE;
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_rT : REAL := 0.0;
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_rDiff : REAL := 0.0;
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_rStep : REAL := 0.0;
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[IF _xFirstCycle THEN
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_xFirstCycle := FALSE;
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// Task-Zeit in Sekunden (100 ns Ticks)
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_rT := LREAL_TO_REAL(
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UDINT_TO_LREAL(_TaskInfo[GETCURTASKINDEXEX()].CycleTime) * 1E-7
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);
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rOut := rTarget;
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END_IF
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IF NOT xEnable THEN
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rOut := rTarget;
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xBusy := FALSE;
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RETURN;
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END_IF
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IF xReset THEN
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rOut := rTarget;
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xBusy := FALSE;
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RETURN;
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END_IF
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IF xHold THEN
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xBusy := (ABS(rTarget - rOut) > 0.0);
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RETURN;
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END_IF
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_rDiff := rTarget - rOut;
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IF _rDiff > 0 THEN
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// Aufwärtsrampe
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_rStep := rRiseRate * _rT;
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IF _rStep > _rDiff THEN
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rOut := rTarget;
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ELSE
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rOut := rOut + _rStep;
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END_IF
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ELSIF _rDiff < 0 THEN
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// Abwärtsrampe
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_rStep := rFallRate * _rT;
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IF _rStep > ABS(_rDiff) THEN
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rOut := rTarget;
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ELSE
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rOut := rOut - _rStep;
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END_IF
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END_IF
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xBusy := (ABS(rTarget - rOut) > 0.0);]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject>
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@@ -0,0 +1,91 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1">
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<POU Name="FB_RampGenerator" Id="{61136989-8ee2-49fa-af2b-1b579e85353f}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_RampGenerator
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VAR_INPUT
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xEnable : BOOL; // Output equals input
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xHold : BOOL := FALSE; // Freeze current value
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rTarget : REAL; // Targetvalue
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rRiseRate : REAL; // Positive rise rate in units/s
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rFallRate : REAL; // Negative rise rate in units/s (only positive values)
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END_VAR
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VAR_OUTPUT
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rOut : REAL; // Generated ramp output
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xBusy : BOOL; // TRUE until target value reached
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END_VAR
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VAR
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_xFirstCycle : BOOL := TRUE;
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_rT : REAL := 0.0; // Task cycle time
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_rDiff : REAL := 0.0;
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_rStep : REAL := 0.0;
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// Output buffer
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_rOut : REAL;
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[IF _xFirstCycle THEN
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_xFirstCycle := FALSE;
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// Get cycle time
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_rT := LREAL_TO_REAL(UDINT_TO_LREAL(_TaskInfo[GETCURTASKINDEXEX()].CycleTime) * 1E-7);
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END_IF
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// If not enabled output equals input
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IF (NOT xEnable) THEN
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_rOut := rTarget;
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rOut := _rOut;
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xBusy := FALSE;
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RETURN;
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END_IF
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// Freezes the ramp at the current value
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IF xHold THEN
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xBusy := (ABS(rTarget - _rOut) > 0.0);
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RETURN;
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END_IF
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// Calculate diff to target
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_rDiff := rTarget - _rOut;
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// Check if we need to ramp up or down
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IF _rDiff > 0 THEN
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// Ramp up
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_rStep := ABS(rRiseRate) * _rT;
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// Clamp to target value
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IF _rStep > _rDiff THEN
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_rOut := rTarget;
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ELSE
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_rOut := _rOut + _rStep;
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END_IF
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ELSIF _rDiff < 0 THEN
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// Ramp down
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_rStep := ABS(rFallRate) * _rT;
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// Clamp to target value
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IF _rStep > ABS(_rDiff) THEN
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_rOut := rTarget;
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ELSE
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_rOut := _rOut - _rStep;
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END_IF
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END_IF
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// Handle busy flag
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xBusy := (ABS(rTarget - _rOut) > 0.0);
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// Copy internals to outputs
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rOut := _rOut;]]></ST>
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</Implementation>
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<Method Name="M_SetStart" Id="{f7326067-d944-49e6-a19b-12711f9b3f19}">
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<Declaration><![CDATA[METHOD M_SetStart
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VAR_INPUT
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rStartValue : REAL;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[_rOut := rStartValue;
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rOut := _rOut;]]></ST>
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</Implementation>
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</Method>
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</POU>
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</TcPlcObject>
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@@ -1,132 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1">
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<POU Name="FB_RampGenerator" Id="{eab75824-fb3c-460a-af65-da2b006c5dc1}" SpecialFunc="None">
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<Declaration><![CDATA[// Must only be called once per cycle!
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// Otherwise the Interpolation is wrong
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{attribute 'analysis' := '-56'}
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FUNCTION_BLOCK FB_RampGenerator
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VAR_INPUT
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// Current target value
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rTarget : REAL;
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// Minimum target value
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rTargetMin : REAL;
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// Maximum target value
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rTargetMax : REAL;
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// Ramp up time (min to max)
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timRampUp : TIME;
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// Ramp down time (max to min)
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timRampDown : TIME;
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END_VAR
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VAR_OUTPUT
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rSetpoint : REAL := 0;
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// Indicates that the target value has been reached
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xInTarget : BOOL;
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END_VAR
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VAR
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// Cycle time in ms
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_rCycleTime : REAL;
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// Ramp up speed per cycle
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// Units per ms
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_rRampUpSpeed : REAL;
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// Ramp down speed per cycle
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// Units per ms
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_rRampDownSpeed : REAL;
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// Distance left to go
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_rDistanceToGo : REAL;
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// First cycle
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_xFirstCycle : BOOL := TRUE;
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_fbGetCurTaskIdx : GETCURTASKINDEX;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[// Get task cycle time during first cycle
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// Does not work in FB_init and also not with {attribute 'call_after_init'}
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IF _xFirstCycle THEN
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_xFirstCycle := FALSE;
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// Get current task cycle time
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_fbGetCurTaskIdx();
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// Convert 100ns to 1ms
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_rCycleTime := UDINT_TO_REAL(TwinCAT_SystemInfoVarList._TaskInfo[_fbGetCurTaskIdx.index].CycleTime) * 10E-5;
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END_IF
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// Clamp setpoint to min max values
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{analysis -37}
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rTarget := MAX(rTarget, rTargetMin);
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rTarget := MIN(rTarget, rTargetMax);
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{analysis +37}
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// Calculate change rates
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// TIME datatype is handled internally like a UDINT (32-bit). This leads to a resolution in milliseconds.
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// [_rRampUpSpeed] = units per cycle
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IF timRampUp <> T#0S THEN
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_rRampUpSpeed := (rTargetMax - rTargetMin) * (_rCycleTime / TIME_TO_REAL(timRampUp));
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ELSE
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_rRampUpSpeed := rTargetMax;
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END_IF
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IF timRampDown <> T#0S THEN
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_rRampDownSpeed := -(rTargetMax - rTargetMin) * (_rCycleTime / TIME_TO_REAL(timRampDown));
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ELSE
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_rRampDownSpeed := -rTargetMax;
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END_IF
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// Calculate distance left to go
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_rDistanceToGo := rTarget - rSetpoint;
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// Calculate new setpoint
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IF (_rDistanceToGo > 0.0) THEN
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IF (_rDistanceToGo > _rRampUpSpeed) THEN
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rSetpoint := rSetpoint + _rRampUpSpeed;
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ELSE
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rSetpoint := rTarget;
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END_IF
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ELSIF (_rDistanceToGo < 0.0) THEN
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IF (_rDistanceToGo < _rRampDownSpeed) THEN
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rSetpoint := rSetpoint + _rRampDownSpeed;
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ELSE
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rSetpoint := rTarget;
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END_IF
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ELSE
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rSetpoint := rTarget;
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END_IF
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// Check if we are in range of target range
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IF ABS(rSetpoint-rTarget) <= 0.001 THEN
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xInTarget := TRUE;
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ELSE
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xInTarget := FALSE;
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END_IF ]]></ST>
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</Implementation>
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<Property Name="CycleTime" Id="{12c00f80-a9cf-4d1b-ac68-3c3e59228015}">
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<Declaration><![CDATA[PROPERTY CycleTime : REAL]]></Declaration>
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<Get Name="Get" Id="{06853e5f-48e3-4643-ae4f-e23a07d71695}">
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<Declaration><![CDATA[VAR
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[CycleTime := _rCycleTime;]]></ST>
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</Implementation>
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</Get>
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</Property>
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<Method Name="SetStart" Id="{06f2b416-7cfb-4f46-94e3-4002d92fc703}">
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<Declaration><![CDATA[METHOD SetStart
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VAR_INPUT
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rStartpoint : REAL;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[rSetpoint := rStartpoint;]]></ST>
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</Implementation>
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</Method>
|
||||
</POU>
|
||||
</TcPlcObject>
|
||||
@@ -1,47 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcPlcObject Version="1.1.0.1">
|
||||
<DUT Name="ST_HMI_ORP_SENSOR_DATA" Id="{5591496f-c48a-4039-866c-f9454b697632}">
|
||||
<Declaration><![CDATA[TYPE ST_HMI_ORP_SENSOR_DATA :
|
||||
STRUCT
|
||||
// PH sensor value
|
||||
{attribute 'OPC.UA.DA' := '1'}
|
||||
{attribute 'OPC.UA.DA.Access' := '1'}
|
||||
rValuePH : REAL;
|
||||
|
||||
// Temperature sensor value
|
||||
{attribute 'OPC.UA.DA' := '1'}
|
||||
{attribute 'OPC.UA.DA.Access' := '1'}
|
||||
rValueTemp : REAL;
|
||||
|
||||
// Redox potential sensor data
|
||||
{attribute 'OPC.UA.DA' := '1'}
|
||||
{attribute 'OPC.UA.DA.Access' := '1'}
|
||||
rValueORP : REAL;
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||||
|
||||
// Sensor lifetime left
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||||
{attribute 'OPC.UA.DA' := '1'}
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||||
{attribute 'OPC.UA.DA.Access' := '1'}
|
||||
rValueDLI : REAL;
|
||||
|
||||
// Reflects the current status of the ORP input data (read only)
|
||||
// 1 = Ok; 2 = Error
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||||
{attribute 'OPC.UA.DA' := '1'}
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||||
{attribute 'OPC.UA.DA.Access' := '1'}
|
||||
iStatus : INT := 0;
|
||||
|
||||
// Instance name (read only)
|
||||
{attribute 'OPC.UA.DA' := '1'}
|
||||
{attribute 'OPC.UA.DA.Access' := '1'}
|
||||
sName : STRING(80);
|
||||
|
||||
// true = Object ist used by the program and can be actuated by the HMI
|
||||
// false = Object is NOT used by the program and should NOT be used by the HMI
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||||
// (read only)
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||||
{attribute 'OPC.UA.DA' := '1'}
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||||
{attribute 'OPC.UA.DA.Access' := '1'}
|
||||
xUsed : BOOL := TRUE;
|
||||
END_STRUCT
|
||||
END_TYPE
|
||||
]]></Declaration>
|
||||
</DUT>
|
||||
</TcPlcObject>
|
||||
@@ -3,17 +3,6 @@
|
||||
<POU Name="FB_RampGeneratorTest" Id="{883a6789-24bc-434e-bdcd-11047d9142bc}" SpecialFunc="None">
|
||||
<Declaration><![CDATA[FUNCTION_BLOCK FB_RampGeneratorTest EXTENDS TcUnit.FB_TestSuite
|
||||
VAR
|
||||
// variables for max clamp test
|
||||
_fbRMPMaxClamp : FB_RampGenerator;
|
||||
_fbDelayMaxClamp : TON;
|
||||
_fbDelayMaxClampBuffer : TON;
|
||||
|
||||
// variables for min clamp test
|
||||
_fbRMPMinClamp : FB_RampGenerator;
|
||||
_fbDelayMinClamp : TON;
|
||||
_fbDelayMinClampBuffer : TON;
|
||||
_xInitMinClamp : BOOL := FALSE;
|
||||
|
||||
// variables for ramp down timing test
|
||||
_fbRMPRampDownTime : FB_RampGenerator;
|
||||
_fbDelayRampDownTime : TON;
|
||||
@@ -43,11 +32,7 @@ END_VAR
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[// test for correct cycle time and it's readout
|
||||
TestCycleTimeReadout();
|
||||
|
||||
// test clamping
|
||||
TestMaxClamping();
|
||||
TestMinClamping();
|
||||
// TestCycleTimeReadout();
|
||||
|
||||
// test ramp up/down
|
||||
TestRampUpTime();
|
||||
@@ -59,55 +44,17 @@ TestRampDownContinuity();
|
||||
TestInTargetResultUp();
|
||||
TestInTargetResultDown();]]></ST>
|
||||
</Implementation>
|
||||
<Method Name="TestCycleTimeReadout" Id="{adf8238e-e5ed-478c-ac22-37930b46e697}">
|
||||
<Declaration><![CDATA[{warning disable C0394}
|
||||
METHOD TestCycleTimeReadout
|
||||
VAR
|
||||
// ramp generator instance
|
||||
_fbRampGen : FB_RampGenerator;
|
||||
|
||||
// task index instance
|
||||
_fbGetCurTaskIdx : GETCURTASKINDEX;
|
||||
END_VAR
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('TestCycleTimeReadout');
|
||||
|
||||
// read current cycle time and abort test in case of cycletime not 10 ms.
|
||||
_fbGetCurTaskIdx();
|
||||
IF ((UDINT_TO_REAL(TwinCAT_SystemInfoVarList._TASKInfo[_fbGetCurTaskIdx.index].CycleTime) * 10E-5) - 10.0) > 0.001 THEN
|
||||
AssertTrue(FALSE, 'Project cycle time not set to 10ms!');
|
||||
ELSE
|
||||
_fbRampGen(
|
||||
rTarget:= 0.0,
|
||||
rTargetMin:= 0.0,
|
||||
rTargetMax:= 100.0,
|
||||
timRampUp:= T#5S,
|
||||
timRampDown:= T#5S,
|
||||
rSetpoint=> ,
|
||||
xInTarget=> );
|
||||
|
||||
// Project should be set to 10ms cycle time for this test to work
|
||||
AssertEquals_REAL(Expected := 10.0, Actual := _fbRampGen.CycleTime, Delta := 0.01, 'Cycle time is not equal to project cycle time (10ms)');
|
||||
END_IF
|
||||
|
||||
TEST_FINISHED();]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="TestInTargetResultDown" Id="{d659dd70-b87c-48f4-9d7b-df95aaef8540}">
|
||||
<Declaration><![CDATA[{warning disable C0394}
|
||||
METHOD TestInTargetResultDown
|
||||
VAR
|
||||
// in target result
|
||||
_xInTarget : BOOL;
|
||||
|
||||
// current ramp setpoint
|
||||
_rSetpoint : REAL;
|
||||
END_VAR
|
||||
|
||||
VAR CONSTANT
|
||||
// delay until in target should be reached
|
||||
timDelay : TIME := T#990MS;
|
||||
timDelay : TIME := T#500MS;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('TestInTargetResultDown');
|
||||
@@ -117,19 +64,18 @@ _fbDelayInTargetResultDown(IN := TRUE, PT := timDelay);
|
||||
|
||||
// run RampGenerator
|
||||
_fbRMPInTargetResultDown(
|
||||
xEnable := TRUE,
|
||||
rTarget := -1,
|
||||
rTargetMin := -1,
|
||||
rTargetMax := 1,
|
||||
timRampUp := T#2S,
|
||||
timRampDown := T#2S,
|
||||
rSetpoint => _rSetpoint,
|
||||
xInTarget => _xInTarget);
|
||||
rRiseRate := 2,
|
||||
rFallRate := 2,
|
||||
rOut => _rSetpoint,
|
||||
xBusy =>);
|
||||
|
||||
// check for whether InTarget is reached at the specified time
|
||||
IF NOT _fbDelayInTargetResultDown.Q THEN
|
||||
AssertFalse(_xInTarget, 'InTarget reached earlier then expected.');
|
||||
AssertTrue(_fbRMPInTargetResultDown.xBusy, 'InTarget reached earlier then expected.');
|
||||
ELSE
|
||||
AssertTrue(_xInTarget, 'InTarget not reached in time.');
|
||||
AssertFalse(_fbRMPInTargetResultDown.xBusy, 'InTarget not reached in time.');
|
||||
TEST_FINISHED();
|
||||
END_IF]]></ST>
|
||||
</Implementation>
|
||||
@@ -138,16 +84,13 @@ END_IF]]></ST>
|
||||
<Declaration><![CDATA[{warning disable C0394}
|
||||
METHOD TestInTargetResultUp
|
||||
VAR
|
||||
// in target result
|
||||
_xInTarget : BOOL;
|
||||
|
||||
// current ramp setpoint
|
||||
_rSetpoint : REAL;
|
||||
END_VAR
|
||||
|
||||
VAR CONSTANT
|
||||
// delay until in target should be reached
|
||||
timDelay : TIME := T#740MS;
|
||||
timDelay : TIME := T#500MS;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('TestInTargetResultUp');
|
||||
@@ -157,130 +100,19 @@ _fbDelayInTargetResultUp(IN := TRUE, PT := timDelay);
|
||||
|
||||
// run RampGenerator
|
||||
_fbRMPInTargetResultUp(
|
||||
xEnable := TRUE,
|
||||
rTarget := 1,
|
||||
rTargetMin := -1,
|
||||
rTargetMax := 1,
|
||||
timRampUp := T#1S500MS,
|
||||
timRampDown := T#1S500MS,
|
||||
rSetpoint => _rSetpoint,
|
||||
xInTarget => _xInTarget);
|
||||
rRiseRate := 2,
|
||||
rFallRate := 2,
|
||||
rOut => _rSetpoint,
|
||||
xBusy => );
|
||||
|
||||
// check for whether InTarget is reached at the specified time
|
||||
IF NOT _fbDelayInTargetResultUp.Q THEN
|
||||
AssertFalse(_xInTarget, 'InTarget reached earlier then expected.');
|
||||
IF (NOT _fbDelayInTargetResultUp.Q) THEN
|
||||
AssertTrue(_fbRMPInTargetResultUp.xBusy, 'InTarget reached earlier then expected.');
|
||||
ELSE
|
||||
AssertTrue(_xInTarget, 'InTarget not reached in time.');
|
||||
AssertFalse(_fbRMPInTargetResultUp.xBusy, 'InTarget not reached in time.');
|
||||
TEST_FINISHED();
|
||||
END_IF]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="TestMaxClamping" Id="{65cd0699-a59f-4537-9fbd-e53ee8fb2124}">
|
||||
<Declaration><![CDATA[{warning disable C0394}
|
||||
METHOD TestMaxClamping
|
||||
VAR
|
||||
// current ramp setpoint
|
||||
_rSetpoint : REAL;
|
||||
END_VAR
|
||||
|
||||
VAR CONSTANT
|
||||
// expected clamped value
|
||||
rExpected : REAL := 5;
|
||||
|
||||
// delta for assertion
|
||||
rDelta : REAL := 0.0001;
|
||||
|
||||
// delay until clamping is reached
|
||||
timDelayRamp : TIME := T#500MS;
|
||||
|
||||
// delay to check for value changes after clamping
|
||||
timDelay : TIME := T#1S;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('TestMaxClamping');
|
||||
|
||||
// timer until until clamping is reach + timeBuffer afterwards to check whether is stays clamped or not
|
||||
_fbDelayMaxClamp(IN := TRUE, PT := timDelayRamp);
|
||||
_fbDelayMaxClampBuffer(IN := TRUE, PT := timDelay);
|
||||
|
||||
// run RampGenerator
|
||||
_fbRMPMaxClamp(
|
||||
rTarget := 10,
|
||||
rTargetMin := 0,
|
||||
rTargetMax := 5,
|
||||
timRampUp := T#500MS,
|
||||
timRampDown := T#500MS,
|
||||
rSetpoint => _rSetpoint,
|
||||
xInTarget =>);
|
||||
|
||||
// check for clamping
|
||||
IF NOT _fbDelayMaxClamp.Q THEN
|
||||
// too early
|
||||
AssertTrue(_rSetpoint < rExpected,'Clamped value reached before expected time');
|
||||
ELSE
|
||||
// after expected rampTime
|
||||
IF NOT _fbDelayMaxClampBuffer.Q THEN
|
||||
AssertEquals_REAL(Expected := rExpected, Actual := _rSetpoint, Delta := rDelta, 'Value did not stay on or did not reach MaxTarget');
|
||||
ELSE
|
||||
TEST_FINISHED();
|
||||
END_IF
|
||||
END_IF]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="TestMinClamping" Id="{e7c98271-509c-4227-870c-3cb3245da266}">
|
||||
<Declaration><![CDATA[{warning disable C0394}
|
||||
METHOD TestMinClamping
|
||||
VAR
|
||||
// current ramp setpoint
|
||||
_rSetpoint : REAL;
|
||||
END_VAR
|
||||
|
||||
VAR CONSTANT
|
||||
// expected clamped value
|
||||
rExpected : REAL := 5;
|
||||
|
||||
// delta for assertion
|
||||
rDelta : REAL := 0.0001;
|
||||
|
||||
// delay until clamping is reached
|
||||
timDelayRamp : TIME := T#500MS;
|
||||
|
||||
// delay to check for value changes after clamping
|
||||
timDelay : TIME := T#1S;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('TestMinClamping');
|
||||
|
||||
// init start at top cap
|
||||
IF NOT _xInitMinClamp THEN
|
||||
_fbRMPMinClamp.SetStart(10);
|
||||
_xInitMinClamp := TRUE;
|
||||
END_IF
|
||||
|
||||
// timer until until clamping is reach + timeBuffer afterwards to check whether is stays clamped or not
|
||||
_fbDelayMinClamp(IN := TRUE, PT := timDelayRamp);
|
||||
_fbDelayMinClampBuffer(IN := TRUE, PT := timDelay);
|
||||
|
||||
// run RampGenerator
|
||||
_fbRMPMinClamp(
|
||||
rTarget := 0,
|
||||
rTargetMin := 5,
|
||||
rTargetMax := 10,
|
||||
timRampUp := T#500MS,
|
||||
timRampDown := T#500MS,
|
||||
rSetpoint => _rSetpoint,
|
||||
xInTarget =>);
|
||||
|
||||
// check for clamping
|
||||
IF NOT _fbDelayMinClamp.Q THEN
|
||||
// too early
|
||||
AssertTrue(_rSetpoint >= (rExpected - rDelta), 'Clamped value reached before expected time');
|
||||
ELSE
|
||||
// after expected rampTime
|
||||
IF NOT _fbDelayMinClampBuffer.Q THEN
|
||||
AssertEquals_REAL(Expected := rExpected, Actual := _rSetpoint, Delta := rDelta, 'Value did not stay on or did not reach MinTarget');
|
||||
ELSE
|
||||
TEST_FINISHED();
|
||||
END_IF
|
||||
END_IF]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
@@ -297,31 +129,30 @@ END_VAR
|
||||
|
||||
VAR CONSTANT
|
||||
// expected final value
|
||||
rExpected : REAL := -9.4564;
|
||||
rExpected : REAL := -0.8;
|
||||
|
||||
// delta for assertion
|
||||
rDelta : REAL := 0.0001;
|
||||
|
||||
// delay until final value is reached
|
||||
timDelay : TIME := T#470MS;
|
||||
timDelay : TIME := T#790MS;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('TestRampDownContinuity');
|
||||
|
||||
// ramp timer, calc speed & calc next expected ramp step
|
||||
_fbDelayRampDownContinuity(IN := TRUE, PT := timDelay);
|
||||
_rMyRampSpeed := 20 * (10 / TIME_TO_REAL(T#1S));
|
||||
_rMyRampSpeed := 0.01;
|
||||
_rNextExpectedDown := _rNextExpectedDown - _rMyRampSpeed;
|
||||
|
||||
// run RampGenerator
|
||||
_fbRMPRampDownContinuity(
|
||||
rTarget := -9.4564,
|
||||
rTargetMin := -10,
|
||||
rTargetMax := 10,
|
||||
timRampUp := T#1S,
|
||||
timRampDown := T#1S,
|
||||
rSetpoint => _rSetpoint,
|
||||
xInTarget =>);
|
||||
xEnable := TRUE,
|
||||
rTarget := -1,
|
||||
rRiseRate := 1,
|
||||
rFallRate := 1,
|
||||
rOut => _rSetpoint,
|
||||
xBusy =>);
|
||||
|
||||
// check for current expected value
|
||||
IF NOT _fbDelayRampDownContinuity.Q THEN
|
||||
@@ -360,12 +191,10 @@ _fbDelayRampDownTime(IN := TRUE, PT := timDelay);
|
||||
// run RampGenerator
|
||||
_fbRMPRampDownTime(
|
||||
rTarget := -7.4367,
|
||||
rTargetMin := -10,
|
||||
rTargetMax := 10,
|
||||
timRampUp := T#500MS,
|
||||
timRampDown := T#100MS,
|
||||
rSetpoint => _rSetpoint,
|
||||
xInTarget =>);
|
||||
rRiseRate := 20,
|
||||
rFallRate := 100,
|
||||
rOut => _rSetpoint,
|
||||
xBusy =>);
|
||||
|
||||
// check whether final value is reach on time or before
|
||||
IF NOT _fbDelayRampDownTime.Q THEN
|
||||
@@ -390,31 +219,30 @@ END_VAR
|
||||
|
||||
VAR CONSTANT
|
||||
// expected final value
|
||||
rExpected : REAL := 8.673;
|
||||
rExpected : REAL := 0.8;
|
||||
|
||||
// delta for assertions
|
||||
rDelta : REAL := 0.0001;
|
||||
|
||||
// delay until final value is reached
|
||||
timDelay : TIME := T#860MS;
|
||||
timDelay : TIME := T#790MS;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('TestRampUpContinuity');
|
||||
|
||||
// ramp timer, calc speed & calc next expected ramp step
|
||||
_fbDelayRampUpContinuity(IN := TRUE, PT := timDelay);
|
||||
_rMyRampSpeed := 16.567 * (10 / TIME_TO_REAL(T#1S650MS));
|
||||
_rMyRampSpeed := 0.01;
|
||||
_rNextExpectedUp := _rNextExpectedUp + _rMyRampSpeed;
|
||||
|
||||
// run RampGenerator
|
||||
_fbRMPRampUpContinuity(
|
||||
rTarget := 8.673,
|
||||
rTargetMin := -7,
|
||||
rTargetMax := 9.567,
|
||||
timRampUp := T#1S650MS,
|
||||
timRampDown := T#1S,
|
||||
rSetpoint => _rSetpoint,
|
||||
xInTarget =>);
|
||||
xEnable := TRUE,
|
||||
rTarget := 2,
|
||||
rRiseRate := 1,
|
||||
rFallRate := 1,
|
||||
rOut => _rSetpoint,
|
||||
xBusy =>);
|
||||
|
||||
// check for current expected value
|
||||
IF NOT _fbDelayRampUpContinuity.Q THEN
|
||||
@@ -436,13 +264,13 @@ END_VAR
|
||||
|
||||
VAR CONSTANT
|
||||
// expected final value
|
||||
rExpected : REAL := 8.3456;
|
||||
rExpected : REAL := 0.55;
|
||||
|
||||
// delta for assertions
|
||||
rDelta : REAL := 0.0001;
|
||||
|
||||
// delay until final value is reached
|
||||
timDelay : TIME := T#440MS;
|
||||
timDelay : TIME := T#550MS;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('TestRampUpTime');
|
||||
@@ -452,13 +280,12 @@ _fbDelayRampUpTime(IN := TRUE, PT := timDelay);
|
||||
|
||||
// run RampGenerator
|
||||
_fbRMPRampUpTime(
|
||||
rTarget := 8.3456,
|
||||
rTargetMin := -10,
|
||||
rTargetMax := 10,
|
||||
timRampUp := T#1S70MS,
|
||||
timRampDown := T#100MS,
|
||||
rSetpoint => _rSetpoint,
|
||||
xInTarget =>);
|
||||
rTarget := 0.55,
|
||||
xEnable := TRUE,
|
||||
rRiseRate := 1,
|
||||
rFallRate := 100,
|
||||
rOut => _rSetpoint,
|
||||
xBusy =>);
|
||||
|
||||
// check whether final value is reach on time or before
|
||||
IF NOT _fbDelayRampUpTime.Q THEN
|
||||
|
||||
Reference in New Issue
Block a user