373] Pd(T1) Controller; 374] Pid(T1) Controller (Tn In Milliseconds) - BONFIGLIOLI AGILE Applications Manual

5.4.4

[373] PD(T1) controller

Type
Input (reference
%
I1
value)
Input (actual
I2 %
value)
Limitation of
%
I3
output values
I4 b Master Reset
Description:
The control deviation (I1- I2) is multiplied by the amplification P1. The D component is
added.
O1 = − O 2 = 1 P ×
The output value is limited to the value at input I3.
The input can be combined with a fixed value, for example.
As long as status TRUE is present at I4 (Master Reset), the output value O1 is 0.
The time constant T1 of the PD(T1) controller corresponds to the sampling time.
Note:
Percentages [%] have two decimals.
For example: Value 12345
5.4.5

[374] PID(T1) controller (Tn in milliseconds)

Type
Input (reference
%
I1
value)
Input (actual
I2 %
value)
Limitation of
I3 %
output values
I4 b Master Reset
Description:
The control deviation (I1 – I2) is multiplied by the amplification (=1). The I component and the
D component are added.
(
O1 = − O2 = I1 −
In instruction "374 PID(T1) controller", the integral time P1 (I component) and the derivative
action time P2 (D component) can be adjusted. The amplification P1 is set to the fixed value 1.
In order to set up another amplification, a P controller (instruction "370 - P controller) must be
connected to the input of the PID(T1) controller.
Note:
In the P controller (instruction 370), P1 is the amplification. In the PID(T1) controller, P1 is the
integral time.
104
104
Function Type
%
O1
O2 %
i
P1
P2 i
(
d 1 I − 2 I
( )
1 I − 2 I + 1 P × P 2 ×
dt
= 123.45% = 1.2345
IN
Function Type
%
O1
O2 %
P1 i
P2 i
1 d
) ( )
I2 + I1 − I2 dt + P2 ×
∫
P1
Function
( )
= O1 P 1 × 1 I − 2 I + P 1 × P
inverted output = -1
P amplification
Derivative action time in ms
)
Function
1
( ) ( )
= O1 I1 − I2 + I1 − I2 dt
∫
P1
inverted output = -1
Integral time in ms
Derivative action time in ms
( )
I1 I2
−
dt
VPLC / PLC
VPLC / PLC
( )
d 1 I − 2 I
2 ×
dt
( )
d I1 I2
−
+ P2 ×
dt
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