Freely Programmable Pid Controller - Baumuller b maXX BM3000 Operating Manual

4.4
Configuration

4.4.17 Freely programmable PID controller

These two freely programmable PID controller can be used for realization of user-specific
feedback control problems.
The freely programmable controller can be configured as P, PI, PD, PID, I, ID and D con-
troller by selection of the corresponding bits in the PID controller mode. The activation of
the PID controller can be synchronized with current, speed or position controller by selec-
tion of the bits in PID controller mode.
Algorithm
The following transfer function is true for the PID controller:
With
and
we obtain:
This means that Kp is effective for the D and I controller even then if the P controller is
inactive.
The functional diagram is described below:
270 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
m The cycle time is 250 µs.
m The single controllers (P, I, D) can be switched on and switched off separately by
selection of the corresponding bits in the PID controller mode.
m The PID controller can be synchronized with current, speed or position controller, i.e.
the controller is only then activated, when current, speed or position controller are
active.
m Set value, actual value and output can be freely selected via freely configurable
source or target parameters.
Set value and actual value can be specified alternatively via open-loop control +
fieldbus or analogous inputs. The output can be read out via open-loop control +
fieldbus or analogous output.
Y s  
G s  
= ----------- =
U s  
Kp = P - gain
Tv = Derivative time
Tn = Integral action time
Kp
Ki = ------ -
Tn

Kd = Kp Tv
G s  
= Kp +
Kp

Kp + ------------ - + Kp Tv s
Tn s 
Ki
Kd s 
----- - +
s

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