Control Algorithm, Parameter Control, Adaptation; Control Algorithm - Siemens SIPART DR22 Manual

Manual
1.5.5

Control algorithm, parameter control, adaptation

(S54 to S60)

1.5.5.1 Control algorithm

The PiD control algorithm of controller I and II is implemented as an interaction-free parallel
structure and follows the ideal controller equations whilst neglecting the filter constants and the
cycle time.
-- P-controller
ya = Kp ⋅ xd = yo
-- Pi-controller
1
ya = Kp (xd +
Tn
-- D-part (zD-part)
The D-part can be added optionally.
ya jω Tv
= Kp
E
1 + jω
The input variable E for the D-part is xd, x, -z, or +z depending on the setting of S55 or S57.
-- zy-part
The z-part can be added optionally to the controller output ya.
SIPART DR22 6DR2210
C79000-G7476-C154-03
ya
or =  Kp
xd

t
xd dt) +yo(t) o r
0
Tv
vv
1.5 Functional description of the structure switches
1.5.5 Control algorithm, parameter control, adaptation
ya
=  Kp (1 +
jω Tn
xd
1 Technical Description
1
)
89