Pi Controller (Tn In Milliseconds); Pi Controller (Tn In Seconds) - BONFIGLIOLI AGILE Applications Manual

5.4.2

[371] PI controller (Tn in milliseconds)

Type
Input (reference
%
I1
value)
Input (actual val-
I2
%
ue)
Limitation of out-
%
I3
put values
I4 b Master Reset
Description:
The control deviation (I1- I2) is multiplied by the amplification P1. The I controller adds up the
control deviation over time. The I component is added. When the integral time has elapsed, the
I component reaches the same value again so that the output value is doubled.
(
O1 O 2 1 P 1 I
= − = ×
The output value is limited to the value at input I3.
As long as status TRUE is present at I4 (Master Reset), the output value I1 and the I compo-
nent are 0.
Note:
Percentages [%] have two decimals.
For example: Value 12345
5.4.3

[372] PI controller (Tn in seconds)

Type
Input (reference
%
I1
value)
Input (actual val-
I2
%
ue)
Limitation of out-
%
I3
put values
I4 b Master Reset
Description:
The control deviation (I1 - I2) is multiplied by the amplification P1. The I controller adds up the
control deviation over time. The I component is added. When the integral time has elapsed, the
I component reaches the same value again so that the output value is doubled.
(
O1 O 2 1 P 1 I
= − = ×
The output value is limited to the value at input I3.
As long as status TRUE is present at I4 (Master Reset), the output value O1 and the I compo-
nent are 0.
Note:
Percentages [%] have two decimals.
For example: Value 12345
08/10
08/10
Function Type
%
O1
O2
%
i
P1
P2 i
1 P
) ( )
∫
2 I 1 I 2 I dt
− + −
P 2
= 123.45% = 1.2345
IN
Function Type
%
O1
O2
%
i
P1
P2 i
1 P
) ( )
∫
2 I 1 I 2 I dt
− + −
P 2
= 123.45% = 1.2345
IN
VPLC / PLC
VPLC / PLC
Function
1 P
( )
∫
O1 1 P 1 I 2 I
= × − +
P 2
inverted output = -1
P amplification
Integral time in ms
Function
1 P
( )
∫
= O1 1 P × 1 I − 2 I +
P 2
inverted output = -1
P amplification
Integral time in s
( )
1 I 2 I dt
−
( )
1 I − 2 I dt
103
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