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5.5
Parameters of the closed loop controller
5.5.1 PID controller
Command
C:I
The control function will be parameterized via this command.
The P, I and D gain are similar to a standard PID controller. The T1 factor is used for the D-gain in order to
suppress high-frequency noise.
Setting the I-gain to "0" deactivates the integrator.
Via the FF value the output gets directly controlled. So the closed loop controller only has to compensate the
deviation. This leads to a stable control behavior and a dynamic activation at once.
Ramp
0.. 10 V
function
4.. 20 mA
x Feedback
0.. 10 V
scaling
4.. 20 mA
Page 27 of 33
Parameters
X
I= P|I|D|D_T1|OFFSET
:P
x= 1... 10000
:I
x= 0... 30000
:D
x= 0...
1200
:D_T1 x= 10... 1000
:FF
x= 0... 10000
Min/Max and
w
linearization
x
PAM-198-P
Unit
0.01
0.1 ms
0.1 ms
0.1 ms
0.01 %
VA:
OFFSET
C:FF
C:P
C:I_ACT
C:I
C:I_DEACT
C:D
C:D_T1
Spool position controller
C:P
P-Gain
C:I
I-Gain
C:D
D-Gain
C:T1
T1 Filter for D-Gain
C:FF
Feed forward
C:I_LIM
Integrator limitation
C:I_ACT
Integrator activation
C:I_DEACT Integrator deactivation
VA:OFFSET Zero point setting
Group
CTRL
CL
C:I_LIM
05.06.2020
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