HBM PX401, Operating Manual

Page: 211 / 552

Internal calculation channels
PMX
A4354-2.2 HBM: public
211
13.2.4.2 PID controller
Function Quasi-linear PID controller in parallel structure with
Anti‐Windup
Tp is the parasitic time constant, see below
Kp
ǒ
1
)
1
Ti
<
s
)
Td
<
s
Tp
<
s
)
1
Ǔ
Inputs - Input in0 target value (setpoint)
- Input in1 actual value (feedback)
- Digital enable input (enableId)
Outputs Controller output out0
Parameters - Amplification Kp, P ­ proportion
- Reset time Ti [seconds]
,
I­proportion
- Derivative time Td [seconds]
,
D­proportion
- Upper limit of controller output ymax
- Lower limit of controller output ymin
- Default output default is output, when
enable input = low
Default Kp = 0.0
Ti = 1e38 s
Td = 0.0 s
ymax = 1e20
ymin = ­ 1e20
enableId = constant High, i.e. constantly active
default = 0.0
Exception handling If at least one of the inputs is invalid (invalid bit)
,
then
- the output is frozen and also marked as invalid
- the controller is stopped