Baumuller b maXX BM5800, Parameter Manual

Page: 240 / 816

Configuration
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
240
of 814
3.4
3.4.13 Customizable PID controller
These two customizable PID controller can be used for realization of user-specific feed-
back control problems.
m
The cycle time is 250 µs.
m
The single controllers (P, I, D) can be switched on and switched off separately by se-
lection of the corresponding bits in the PID controller mode.
m
The PID controller can be synchronized with current, speed or position controller, i.e.
the controller is only then activated, when current, speed or position controller are ac-
tive.
m
Set value, actual value and output can be freely selected via freely configurable source
or target parameters.

Set value and actual value can be specified alternatively via open-loop c field-
bus or analogous inputs. The output can be read out via open-loop c fieldbus
or analogous output.
The customizable controller can be configured as P, PI, PD, PID, I, ID and D controller by
selection of the corresponding bits in the PID controller mode. The activation of the PID
controller can be synchronized with current, speed or position controller by selection of
the bits in PID controller mode.
Two customizable controller are available for each device. At a double axis unit the PID
controller can be allocated freely to the axes. Thereby set value, actual value and output
are in the same axis.
Algorithm
The following transfer function is true for the PID controller:
Kp = P - gain
Tv = Derivative time
Tn = Integral action time
With
and
we obtain:
This means that Kp is effective for the D and I controller even then if the P controller is
inactive.
G s
 
Y s
 
U s
 
----------- Kp
Kp
Tn s

------------- Kp Tv s
 
+ + = =
Ki
Kp
Tn
------- =
Kd Kp Tv

=
G s
 
Kp
Ki
s
------ Kd s

+ + =