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Integral Blocks
Correction Rate Algorithm
The relevant correction increment dY
formula:
•
Without feedforward control (D11.5=1); XW is forwarded to the differentiator (D11.1=0)
dY
= K[(XW
- XW
) R+TI
k
k
k-1
= K (dPW
+ dI
+ dD
k
k
•
With feedforward control (D11.5=0); XW is forwarded to the differentiator (D11.1=0)
dY
= K[(XW
- XW
) R+TI
k
k
k-1
= K (dPW
+ dI
+ dD
k
k
•
Without feedforward control (D11.5=1); XZ is forwarded to the differentiator (D11.1=1)
dY
= K[(XW
- XW
) R+TI
k
k
k-1
= K (dPW
+ dI
+ dD
k
k
•
With feedforward control (D11.5=0); XZ is forwarded to the differentiator (D11.1=1)
dY
= K[(XW
- XW
) R+TI
k
k
k-1
= K (dPW
+ dI
+ dD
k
k
P component
I component
When XW
is applied:
k
When XZ is applied:
The result is:
Correction Algorithm
The formula used to compute the correction rate algorithm is also used to compute the correction
algorithm.
In contrast to the correction rate algorithm, however, the sum of all correction increments
computed (in DW 48), rather than the correction increment dY
11-36
is computed at instant t= k
k
XW
+ (TD (XW
- 2XW
•
k
k
)
k
XW
+ (TD (XW
- 2XW
•
k
k
)+dZ
k
k
XW
+ (TD (XZ
- 2XZ
•
k
k
)
k
XW
+ (TD (XZ
- 2XZ
•
k
k
)+dZ
k
k
D component
XW
=
k
PW
=
k
QW
=
k
=
PZ
=
k
QZ
=
k
=
dPW
=
k
dI
=
k
dD
=
k
=
dZ
=
k
TA according to the following
•
+ XW
) + dD
)]
k-1
k-2
k-1
+ XW
) + dD
)]+(Z
k-1
k-2
k-1
k
+ XZ
) + dD
)]
k-1
k-2
k-1
+ XZ
) + dD
)]+(Z
-Z
k-1
k-2
k-1
k
Z component
k: k
W
- X
k
k
XW
- XW
k
k-1
PW
- PW
k
k-1
XW
-2XW
+XW
k
k-1
k-2
XZ
- XZ
k
k-1
PZ
- PZ
k
k-1
XZ
-2XZ
+XZ
k
k-1
k-2
(XW
- XW
)R
k
k-1
TI
XW
•
k
(TD
QW
+dD
) when XW is applied
•
k
k-1
(TD
QZ
+dD
) when XZ is applied
•
k
k-1
Z
- Z
k
k-1
is output at sampling instant t
k
S5-115U Manual
-Z
)
k-1
)
k-1
th
sample
.
k
EWA 4NEB 811 6130-02b
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