Implemented.pid.controller; D Portion With Delay; Function Of The Real Pid Controller - EBRO ARMATUREN EP 501 C Operating Instructions Manual

Typ EP 501
Additional technical information
35.5. Implemented PID controller

35.5.1. D Portion with delay

In the process controller Type EP 501 C the D portion is implemented with a delay T.
Function:
d Y d X
⋅ + = ⋅
T Y K d
t d t d
Superposition.of.P,.I.and.DT.Portions
X
Xd
Xd
T
Figure 115: Characteristic of superposition of P, I and DT Portions

35.5.2. Function of the real PID controller

d Y
⋅ + =
T Y K ( p X
t d
Superposition.of.P,.I.and.DT.Portions
Kp
Kp⋅Xd
Figure 116: Characteristic of step response of the real PID controller; adjustment rules for PID controllers
d
(9)
Y
T
1 d
∫
+ +
d X d t d T v
T n
X
Xd
Y
Xd
T
Tn
t
t
X d
(10)
t d
t
t
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