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DIQ/S 281
Function
ba77244d01
6.7.2 PID controller
The PID controller function can use an output as a controller output. The regu-
lator can be configured as a Proportional regulator with switchable Integral and
Differential regulator parts (PID Controller).
The control response of the PID controller is described by the following formula:
=
+
I
I
K
Regler
0
with:
−
I
I
=
max
min
K
X
p
=
−
x
x
x
e
soll
ist
≤
≤
I
I
min
Regler
Current on the controller output at time t
I
Controller
I
Current on the output if x
0
Amplification
K
Proportional range
X
p
Control difference
x
e
Actual value (current measured value)
x
actual
Set value
x
set
Integral algorithm
ti
Differential control part
td
Time
t
Lower current limitation
I
min
Upper current limitation
I
max
The adjustable control parameters are x
table on page 110).
08/2020
Unchanged
1
dx
+
+
x
x
dt
T
e
e
d
T
dt
i
I
max
The current at the output remains
unchanged.
e
= x
actual
set
, I
, X
, I
, I
, ti and td (see setting
set
0
p
min
max
Outputs
107
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