RSRC LVARLBVWp P">>"@  J B&*">>"`PP``LL`440<ψȈfofofo     P\ P_\ _U U++++++++++++++++++++++++++++++++++++++++++++++++PID VIs PID Ctrls PID SubPID Controller 4  modPID SubModPI  @ Desired Output@ Actual Output@ Kp@ Ki@ Iteration@ Kd @ Delta T@ Control Output@ Actual Time (s)PIDS~zThe VI will perform the calulations for a PID control alogrithim, and determine the output based on the three gains, the setpoint value, and an input value. INPUTS to VI: Input: Actual output from the system. Setpoint: Desired output of the system. Kp: gain constant for proportional control action. Ki: gain constant for integral control action. Kd: gain constant for derivitive control action. Iteration: number of iterations of the PID Calculations VI. On the "0th" iteration the VI will reset the Integrand and previous error shift registers to zero. OUTPUTS from VI: Control: output from the PID transfer function. Actual time: time between two consecutive samples. ALOGRITHIM: n = current iteration number Error(n) = Desired output(n)-Actual Output(n) Sum Error(n) = Sum Error(n-1) + {Error(n)* [t(n)-t(n-1)]} t(n) = current time Control Output = Kp*Error(n) + Kd*[Error(n) - Error(n-1)]/[t(n)-t(n-1)] + Ki*Sum Error(n) NOTE: This VI is designed to be used in a "while" or "for" loop, with the iteration counter wired to the iteration input of this VI. <"!!!!!"<OIIOII6PID SubPIDSPID Controller 4 modPID SubModPIInstrUse InstrUseInstrUseInstrUseInstrUseInstrUse InstrUse InstrUse ?臀~臀> Ȍ̌̌̈̈̌̌Ȍ̌x pp  p> ( 8̈,΢~,,,,h((B ̌b~,...̂ŒȈ( 8̈,΢~,,,,h(( È̌b~,...̂ŒȈ( 8̈,΢~,,,,h(( Ì̄b~,...̂̂Ȉ( (̈̈,΢~,,,,h(, Ì̌b~,...̂ĂȈL ( 8̈̈,΢~,,,,h(,033Ƞʀ ʠJ ʀʡʡx p ΀ ꀈ ̈ HHȌȈ̈   (̈̈̌̀ Ⰸ̌̌Ȍ̌`̌Œ`̈Ȟ̈(̰+̈ḦȈΈ,LB~͈,̼B~ ̌`Ḧh Ȉ(.̈ḦȈḦȈḦhȈL ⰈḦȈḦ ȈḦhȈ(/ ⰈḦ ȈḦ ȈḦh Ȉ(/̈ḦȈḦȈḦ(Ȉ(/̈ḦȈḦȈḦ(Ȉ(̰+̌Ȍ̌`̌ƌ`Č̈̈ḦȈḦȈḦ(Ȉ+Ȍ̌Ȍ̌ƌ` ̈h (b~Ȁ΢~,興.̌̈̈ Ȉ,(/̈ḦȈḦȈḦ(ȈȀ ̀ ̀ Ȁ (̈̀H ψ, Ȁ L̈Ȁ ̀̌ ̀̈Ȁ ̌̈̀ ȀȌ̻ˈ, ̀JBn(̈( ̈̌̌ Ȁ̈LȀ ̀̈Ȁ ȀȀȌ̌̌ ̀ȈΈ, Ȁ ̀ L ,(/ȈȀȌ(Έ/ H΀ꀈ H( ̈( ̈̌̌   ̀ ̀̌Ȍ̈̀̌  ʌȌȈȞ (̈ ̈̀ʌȌȈH̌ (̈ ̈̀̌ ˨(̈̌Ȉ(̈̌̌ (Έƌ`̈ČȈ(L̈̀ (̈ ̈̀ψ(̈(̈Ā̌̈̈̀ ̀ (̈̈̀̄ Ȁ̌L̀ ̀Č̈̌ƀ ̈,ᇈ.̂  ̀ Ȁ̈̌ ̀̌̌̌̌ Ȁ  ̌ Ⰸ̈ḦȈḦhȈ̀ Έ h (΢~,,, Ȟ̌ Ȁ h 8̌΢~,,ȞȈ̈Ȁ (̀ƀ ̈,ᇈo.̂oČ̈̌ ̀ h (̌΢~,,ȞȈ̈@Ȁ ̀ Ⰸ̌̌ ̌`̌`̌ ψh (΢~,,, Ȟ̌ @ Ȁ((3ʀ~ Ȍ̌ (̈̌L(ψϨΈȀ Ⰸ̌̌Ȍ̌`̌ƌ` (̈ ʀ~  ̀ Ȉ ꀈ Ȉ ꀈ ( ̈( ̈̌̌ (ψ(("  ̰+Ȍ̌̌̌@ȀḦ̈̌ Ȁ̌̌ Ā  ƀ ̈,ᇈo.̂oČ̈̌  Ϩ(  (  (((Ϩ(  (ˈ ˨ψ (Έ⌂|Ǐ?Ǐǿ_ w<y;;x>y;0{|{xC8==wa?p{>0|>g#pq01F88G<?y>gqspqsp888px|?8?s?G8qp0s?G8qsp<88px>|>?;ǏLJ?;!?q1c1c1q|8ޏϟ8>GDDD?q|8ޏϟsc~?Cyg??qy 3?ϟ!w3?8<~/Cg??q?133sq;?3~x< <'gq;?3~x<'g;/3~x< 8>GDZ?~hM0g< /XLB,  L 40 9BSW^LXj,  aK40 :LIWSQNj   40 P;BILSGNj4/)0\|;BD d40d<\|l  d>840dl=\|l4)0: a @)\=@Pq?@,@ 4 J bMqEl/46l_a4 2 rEl/0 3 qKH : s00/.- B)E(0Th- 2H @D4ODA @ 64/)0p;BDgl L%\ 40LB g L%$ L40LXC v{g L" 40LDv {gl4)0bc ! 4)0tR  ,d $L04)0P    B)\U<00T,t00@;H=hp *x4 Bda pfEl/4)0,L 4$W @0-(E4)0+xa5 B)00T X4)0 m P <,. @@(00T4)01 ##,4Yh 4)0Loh50@)\7phVf^',,1104X2H/,$L d(45J0-(&P0-(!LGAIE,;h8T0@)\x $ !0A(1 $4 B /#El/4)0 HH ,2 0@h08 / 4 B eEm/ B)\/ B)/!,! !h @@(" /4)0'`j  4)0!@  L- 4$f a4)0"t&  -t<<4)0"(8 #$ 4)0$2 ,&(84<>$ 0-(LAIE B)\!## B)G##.!h l,0@8T<$LEeU$|4 B$L{ExEm/ @03d84 )𙛨=Em/<$J,14 0'$8hbwli @@(#\#, =h

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Fan ON/OFFp!dfdP!exdP!txdP!old`< P @P0@@@@@@P!!!!d@ZP0   !!!    >P$@P @ Output ` < P @P0@@@@@@P!!!!d@ZP0   !!!    <P"@P@ Set Point ` `b P         @P b P         @P P"@P@flg@oRt@eofudf0PP@ Set Point Setpoint and Temp ChartpP  dfdPP  exdPP  txdPP  old P   \P"@P@flg@oRt@eofudfP Desired Delta Tp dfdP exdP txdP old` P   b P         @P LP"@P@flg@oRt@eofudf p dfdP exdP txdP oldV P$@P@0P`0 channel (0) `device``0 channel (0) `device`` y` lo`` x  `device` `iteration (0:initialize)`0 port number` y` x`0 channel (0) `device` ` voltage `device`` y` x` Actual Time (ms) `line`0 port number `!Press Esc to Stop VI``iteration (0:initialize)`  !`V P$@P@0PV P$@P@0PV P$@P@0PV P$@P@0P``h`6@P @!status @code@0source error out`@ device (1)@@tP@ high limit (10 V)@ low limit (-10 V)B@ no changeinternalexternalreference source (no change:0)limit settings (no change),@@@0 channel (0) channels (0)@@ scaled data@@P @!status @code@0sourceerror in (no error)`@iteration (0:initialize)` @device@port width (8)@0digital channel @pattern@iteration (0:initialize) @ @ voltage @@0 channel (0)!`@!Press to Escape`@ Actual Time (ms)`!`&"P @ Control Output P@ Desired Temp  ` @device@port width (8)@0digital channel @pattern@iteration (0:initialize)!`` 6@P @!status @code@0source error out`@ device (1)@@tP@ high limit (10 V)@ low limit (-10 V)B@ no changeinternalexternalreference source (no change:0)limit settings (no change),@@@0 channel (0) channels (0)@@ scaled data@@P @!status @code@0sourceerror in (no error)`@iteration (0:initialize)@ Desired Temp@ Control Output @@ Control Output!` !`@ Actual Time (s)`@ Desired Output@ Actual Output@ Kp@ Ki` @ Delta T@ Desired Temp @@ scaled data`@@ binary data6@P @!status @code@0source error out`@ device (1)T@@0P@ high limit (0.0)@ low limit (0.0)input limits (no change)@@fP@@ no changeDCACGND internal ref.coupling (no change:0) @input config (no change:0)%coupling & input config (no change:0),@@@0 channel (0) channels (0)H@ no changescaledbinaryscaled and binaryoutput units (scaled:1)@@P @!status @code@0sourceerror in (no error)`@iteration (init:0),@&[number of AMUX boards] (no change:-1)`P @ delta XP @ delta X@ Actual Time (ms) !`@! Fan ON/OFF @@0channel @@0 channel (0)@ Integral@ Desired Temp@ Proportional@ Desired Delta T```$`$``````````````````````````````` `% ` ` `% ` ` `% ` ````` `% ` ` `% ` ` ` `H`@7@ 7@.@V.@"./?v+ I@N@r@Y@I@$?V@TB@@^@9@?"0 0@@@\(0BBR0?@.0?v+ I000 d:\automated\lv51\lvsource\gencode.cGenRangeCheckd:\automated\lv51\lvsource\gencode.cGenCopyProcs1d:\automated\lv51\lvsource\gencode.cGenCopyProcs2$d:\automated\lv51\lvsource\gencode.cGenCopyProcs3nd:\automated\lv51\lvsource\gencode.cGenDefaultProc<(4L\hkpH| f ,P0<TVIDSModPIVIDSWrite to Digital Port .viPTH0VIDS modPID SubPTH0VIDSAO Write One Update.vi PTH0VIDSAI Read One Scan.viPTH0%5.1Oldest compatible LabVIEW.OdOOOpPPP 2@P @ Output Error and Output Chart@ Proportional@ Integral@ Desired Temp@!Press to Escape@! Fan ON/OFF0@P@ Set Point Setpoint and Temp Chart @ Desired Delta TThis VI is used to control the temperature of an Aluminum Plate. The desired control temperature, or setpoint, is maintained by sending a 0 to 5 Volt signal to a pair of 4.7 Ohm heating resistors wired in parallel. The output voltage is determined by the PID Calculations VI, through the use of a simple PID Alogrithim. The user can change the proportional, derivitive, integral control gains as the VI is running. The user can also vary the setpoint temperature. A fan is controlled by a button on the front panel. The fan can be turned on at any time by the user to cool the plate, thereby creating an external disturbance to the thermal system. The recommended setpoint temperature range is from 80 to 120 degrees Farenheit. See PID Calculations VI for more information.<"!!!!!"<   i"I"I"IIIDTHPD$O88~L! @ voltage @!Press to Escape @device @0 channel (0)&@ @ voltage8,@@@0 channel (0) channels (0).@@0 channel (0)"@ Desired TempB2@P @ Output Error and Output ChartN>P$@P @ Output ` "@ Proportional @ Actual Time (s) @ Control Output@ Integral  (P@ Desired Temp  @ delta X<0@P@ Set Point Setpoint and Temp ChartHLY>  Fan ON/OFFH"l"Oc 8c 8UD&3&3  Degrees Fc++Setpoint and Temp ChartQD^k^k13.55RD³´250.00\^=k^>k Actual Temp. 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INPUTS to VI: Input: Actual output from the system. Setpoint: Desired output of the system. Kp: gain constant for proportional control action. Ki: gain constant for integral control action. Kd: gain constant for derivitive control action. Iteration: number of iterations of the PID Calculations VI. On the "0th" iteration the VI will reset the Integrand and previous error shift registers to zero. OUTPUTS from VI: Control: output from the PID transfer function. Actual time: time between two consecutive samples. ALOGRITHIM: n = current iteration number Error(n) = Desired output(n)-Actual Output(n) Sum Error(n) = Sum Error(n-1) + {Error(n)* [t(n)-t(n-1)]} t(n) = current time Control Output = Kp*Error(n) + Kd*[Error(n) - Error(n-1)]/[t(n)-t(n-1)] + Ki*Sum Error(n) NOTE: This VI is designed to be used in a "while" or "for" loop, with the iteration counter wired to the iteration input of this VI. wEh? 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D Z w CODEPPDt%6.1Oldest compatible LabVIEW.6.//pPPP @ Kp@ Kd@ Ki@ Desired Output@ Actual Output@ Control Output@ Iteration@ Actual Time (s) @ Delta T ~zThe VI will perform the calulations for a PID control alogrithim, and determine the output based on the three gains, the setpoint value, and an input value. INPUTS to VI: Input: Actual output from the system. Setpoint: Desired output of the system. Kp: gain constant for proportional control action. Ki: gain constant for integral control action. Kd: gain constant for derivitive control action. Iteration: number of iterations of the PID Calculations VI. On the "0th" iteration the VI will reset the Integrand and previous error shift registers to zero. OUTPUTS from VI: Control: output from the PID transfer function. Actual time: time between two consecutive samples. ALOGRITHIM: n = current iteration number Error(n) = Desired output(n)-Actual Output(n) Sum Error(n) = Sum Error(n-1) + {Error(n)* [t(n)-t(n-1)]} t(n) = current time Control Output = Kp*Error(n) + Kd*[Error(n) - Error(n-1)]/[t(n)-t(n-1)] + Ki*Sum Error(n) NOTE: This VI is designed to be used in a "while" or "for" loop, with the iteration counter wired to the iteration input of this VI. <"!!!!!"<OIIOII,DTHPD`688$+~t! "@ Actual Output@ Iteration @ Actual Time (s) @ Control Output(@millisecond timer value*@milliseconds to wait@ Kp@ Kd@ Ki @ Desired Output@y @ Delta Th00L0\|\|L(((L0LHHH\\\ NererڳKpH2xυxЅNڽڳKdH@3N֓͠ΠֳKiH|3ϳгZ7D7DDesired OutputHp4JWJWYƽƳ  Actual OutputH4Ze{re|rijControl OutputHX5v}v~U7D7D  IterationH5JWJW[{Ó|ó Actual Time (s)Ht7}~S𳳳Delta TH1HD3HDd3]?jL]@jLHD04  HD4"" `Dcbpccpmilliseconds to waitHDXssHD<1boVboVHD(5!.$!.$HD5YYHD6|Fq|GqtDFF(((Initialize variables on first iteration.jDxyWhile loop only executes once.HD1HUHUHD40  HDd0LSMS`DsTsTmilliseconds to waitHD|0HD0?L?LHD0p}p}HD|/YrZrMDlsmsy\D&v'vIntegrated Error]Dy+y+delta T (seconds)QDErrorWDER,ER, delta ErrorSELYLY False HD0ssQEjwjw 1.. 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The desired control temperature, or setpoint, is maintained by sending a 0 to 5 Volt signal to a pair of 4.7 Ohm heating resistors wired in parallel. The output voltage is determined by the PID Calculations VI, through the use of a simple PID Alogrithim. The user can change the proportional, derivitive, integral control gains as the VI is running. The user can also vary the setpoint temperature. A fan is controlled by a button on the front panel. The fan can be turned on at any time by the user to cool the plate, thereby creating an external disturbance to the thermal system. The recommended setpoint temperature range is from 80 to 120 degrees Farenheit. See PID Calculations VI for more information.88a?kU#?kUU?{EP'"/ """»ꪪ껪*着ﯨ+ꫪꫪꫪnꫪꫪꫪ۪껪諭*ꫪ뫪*+~+*""'**)**"")(****+**)*********諪*ȌȌH 8000000,p70000000?00"# "Dw`@"`_tQQ #;0 D    "`y? 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D@  |WKZJGF 7 ُ B~FTZ_u2i0LVINPID Controller 4LVINWrite to Digital Port .viC   @device@port width (8)@7digital channel @pattern@iteration (0:initialize)PTH06DAQ 1EASYIO.LLBWrite to Digital Port .viLVINPID SubL  @ Desired Output@ Actual Output@ Kp@ Ki@ Iteration@ Kd @ Delta T@ Control Output@ Actual Time (s)PTH0 PID SubaPOLYAI Read One Scan.viн4PTH0+DAQAI.LLBAI Read One Scan.vieLVIN"AI Read One Scan (scaled array).vi    @ device (1)T@@0P@ high limit (0.0)@ low limit (0.0)input limits (no change)@@fP@@ no changeDCACGND internal ref.coupling (no change:0) @input config (no change:0)%coupling & input config (no change:0)@@ scaled data0@@@7 channels (0) channels (0)@@P @!status @code@0sourceerror in (no error)@iteration (init:0),@&[number of AMUX boards] (no change:-1)6@P @!status @code@0source error outPTH0:DAQai.llb"AI Read One Scan (scaled array).viPOLYAO Write One Update.viо@PTH0.DAQAO.LLBAO Write One Update.viLVIN%AO Write One Update (scaled array).vi   @ device (1)@@tP@ high limit (10 V)@ low limit (-10 V)B@ no changeinternalexternalreference source (no change:0)limit settings (no change).@@@7 channel (0) channels (0)@@ scaled data@@P @!status @code@0sourceerror in (no error)@iteration (0:initialize)6@P @!status @code@0source error outPTH0=DAQao.llb%AO Write One Update (scaled array).viD88 P c8 P+b P         @P b P         @P  cP"@P@flg@oRt@eofudf2PP @ Output Error and Output ChartpP   dfdPP   txdPP   oldPP   ext P   cZP"@P@flg@oRt@eofudfP Proportionalp dfdP txdP oldP ext P   cXP"@P@flg@oRt@eofudfP Derivitivep dfdP txdP oldP ext P   cVP"@P@flg@oRt@eofudfP Integralp dfdP txdP oldP ext P   cZP"@P@flg@oRt@eofudfP Desired Tempp dfdP txdP oldP ext c\P"@P@flg@oRt@eofudfP!Press to Escapex!dfdP!txdP!oldP!ext cXP"@P@flg@oRt@eofudfP! Fan ON/OFFx!dfdP!txdP!oldP!ext P @vP0@PP@P!!!!l@bP0   !!!    $@P0!!!B@8PPP6P$@P @ Output 0006P$@P @ Output  P @vP0@PP@P!!!!l@bP0   !!!    $@P0!!!B@8PP~P4P"@P@ Set Point 0004P"@P@ Set Point b P         @P b P         @P  cP"@P@flg@oRt@eofudf0PP@ Set Point Setpoint and Temp ChartpP  dfdPP  txdPP  oldPP  ext P   c\P"@P@flg@oRt@eofudfP Desired Delta Tx dfdP txdP oldP ext P   b P         @P  cLP"@P@flg@oRt@eofudf x dfdP txdP oldP extV P$@P@0P`0 channel (0) `device`0 channel (0) `device` yh lo` x(  `device(hiteration (0:initialize)`0 port number` y` x`0 channel (0) `device h voltage `device` y` xh Actual Time (ms) hline`0 port number(h!Press Esc to Stop VIhiteration (0:initialize)  !V P$@P@0PV P$@P@0PV P$@P@0PV P$@P@0P c c\ c c6@P @!status @code@0source error out c! c@ Kp@ Ki@ Actual Output@ Desired Output@ Kd @ Delta T c,@pP @ Output reference c@@P @!status @code@0sourceerror in (no error) c@ x c@ Actual Time (s)@ Control Output! c P@ Desired Temp @ Desired Temp6@P @!status @code@0source error out c@ @ voltage,@&[number of AMUX boards] (no change:-1) c@iteration (init:0)@@P @!status @code@0sourceerror in (no error) c  @@0 channel (0) c@@P @!status @code@0sourceerror in (no error) c*@pP@ Set Point reference c.@@@7 channel (0) channels (0)@@tP@ high limit (10 V)@ low limit (-10 V)B@ no changeinternalexternalreference source (no change:0)limit settings (no change)@@ scaled data6@P @!status @code@0source error out@@P @!status @code@0sourceerror in (no error) c@iteration (0:initialize)@ device (1) c @device c@iteration (0:initialize) c! c @pattern c@port width (8) c&"P @ Control Output c@7digital channel c@@ Control Output c  c@@0 channel (0) c@ Actual Time (ms) c@!Press to Escape@! Fan ON/OFF@ Desired Temp@ Derivitive@ Proportional@ Integral @ Desired Delta T@@ scaled data c c@@P @!status @code@0sourceerror in (no error) c@iteration (0:initialize) c@iteration (0:initialize) @pattern@@0channel! c@ Actual Time (ms)! c@7digital channel@ device (1) @device@port width (8) cT@@0P@ high limit (0.0)@ low limit (0.0)input limits (no change) c@@tP@ high limit (10 V)@ low limit (-10 V)B@ no changeinternalexternalreference source (no change:0)limit settings (no change) c@@ scaled data0@@@7 channels (0) channels (0) c@ device (1) c c c.@@@7 channel (0) channels (0) c! c@@fP@@ no changeDCACGND internal ref.coupling (no change:0) @input config (no change:0)%coupling & input config (no change:0) c c c c\ c c\ c c c cd c@ Desired Temp c c c$ c c c c c c c c c c@ c  c c c@ c  c c c c c c c c c c c c c c c c c c c c P vPvPvPvPvPvPvPvPvPvP. P  c8 c c 0|G h \ Zr  <ATA-HTA/@V.@2./?v+ I$@$$@?? w?Յ%j@@?tzG{@TError (deg. F)88 B  Control (V) B Fan (Off/On)   B#6p(Set Point Temp. 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