189
Supplementary information
Type 8792, 8793 REV.2
26.2.5 Implemented PID controller
26.2.5.1.
D portion with delay
In the process controller of the Type 8793 positioner the D portion is implemented with a delay T.
Function:
(9)
t
d
d
X
d
d
K
Y
t
d
Y
d
T
⋅
=
+
⋅
Superposition of P, I and DT portions
X
Xd
Y
t
t
Xd
T
T
Figure 75:
Characteristic of superposition of P, I and DT portions
26.2.5.2. Function of the real PID controller
(10)
t
d
d
X
d
v
T
t
d
d
X
n
T
1
d
X
(
p
K
Y
t
d
Y
d
T
∫
+
+
=
+
⋅
Superposition of P, I and DT portions
X
Xd
Y
t
t
Tn
Kp
⋅
Xd
Xd
T
Kp
Figure 76:
Characteristic of step response of the real PID controller
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Summary of Contents for 8792
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