Allen-Bradley Logix5000 Reference Manual page 519

Gains Option
Dependent gains
(ISA standard)
Independent gains
Rockwell Automation Publication 1756-RM003N-EN-P - October 2011
When using dependent gains, the proportional gain is replaced with a
controller gain that affects all three terms. You can use either form of equation
to perform the same type of control. The two equation types are merely
provided to let you use the equation type with which you are most familiar.
Derivative Of
Error (E)
Process variable (PV)
Error (E)
Process variable (PV)
Special Instructions (FBC, DDT, DTR, PID)
Equation
1
---- Edt
CV = K E +
C
T
i
E = SP -
CV = K E +
C
E = PV -
CV = K E +
C
CV = K E + K
P i
E = SP -
CV = K E + K
P i
E = PV -
t

CV = K E + K
P i
0
Chapter 13
t
dE

------ -
+ T + BIAS
d
dt
0
t
1 dPV

---- Edt T ---------- -
– + BIAS
d
T dt
i
0
t
1 dPV

---- Edt ---------- -
+ T + BIAS
d
T dt
i
0
t
dE

------ -
Edt + K + BIAS
d
dt
0
t
dPV

---------- -
Edt K – + BIAS
d
dt
0
dPV
---------- -
Edt + K + BIAS
d
dt
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