Beckhoff TwinCAT 3 User Manual (English)

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Appendix

7 Appendix

7.1 Control Algorithm

The heart of the TwinCAT Temperature Controller is a standard PID controller. This controller kernel also

supports anti-reset windup measures to limit the I-component if the control value is subjected to limiting.

Since the controller has been designed to minimise disturbances using the adjusting procedure according to

Chien, Hrones and Reswick, overshoot is possible when the set point is changed. In order to reduce such

overshoot, a pre-controller can be inserted to handle changes in the set point. The pre-regulator has a D-T1

characteristic, and reduces ringing in the controller as a whole. Since the D component of the pre-controller

has the effect of "roughening" the control value, the use of a pre-controller must be considered very carefully.

The pre-controller is switched off when the actual value enters within a certain range of the set value and

remains there for some length of time. The pre-controller is switched off by ramping it down over a

considerable period of time. To minimise oscillation of the control value, it is optionally possible to follow the

main controller with a filter. P-T1 and moving average filters are available for this purpose.

Requirements

Development environment target platform PLC libraries to include

TwinCAT 3.1.4006 PC or CX (x86) Tc2_TempController

TC3 Temperature Controller44 Version: 1.1

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Beckhoff TwinCAT 3 Specifications

General

Platform	Windows
Programming	IEC 61131-3
Runtime	Real-time
Functionality	PLC, Motion Control, CNC, Robotics
Communication	EtherCAT, OPC UA, TCP/IP
Integration	Visual Studio
Hardware compatibility	Beckhoff Industrial PCs
Category	Industrial Automation Software