$re = '/(?<=\sid=\"[^\"]*)/(?=[^\"]*\"[^>]*>)/m';
$str = '<circle id="a/b/c" stroke="#2C2C2C" stroke-width="2" fill="#FFF" fill-rule="nonzero" cx="141" cy="21" r="9"/><text id="a/b/c-something" font-size="10" fill="#2C2C2C"><tspan x="0" y="10">a/b/c Something</tspan></text>
';
$subst = "-";
$result = preg_replace($re, $subst, $str);
echo "The result of the substitution is ".$result;
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for PHP, please visit: http://php.net/manual/en/ref.pcre.php