National Instruments NI EDIDS-2400 Series, User Manual, Page: 120 / 314

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Units: s (seconds)
Detail: Adjusts the lead compensation on the PosSetpoint_ChX . A lead/lag compensation function is internally
inserted in the PosSetpoint_ChX value to the internal PID function. TLead_ChX can be increased to intensify the
change in Position Setpoint. This parameter is not changed by a position or control calibration procedure.
TLag_ChX
Tip Strip: H-Bridge channel X lag compensation time
Units: s (seconds)
Detail: Adjusts the lag compensation on the PosSetpoint_ChX value. A lead/lag compensation function is internally
inserted in the PosSetpoint_ChX value to the internal PID function. TLag_ChX can be increased to slow the
change in Position Setpoint. This parameter is not changed by a position or control calibration procedure.
KRPos_ChX
Tip Strip: H-Bridge channel X proportional gain for H-Bridge channel PID when Theta is greater than limp home
angle
Units: V/
Detail: Specifies proportional gain for the throttle control PID function while
PosSetpoint_ChX
is greater than
LHPsn_Out_ChX Limp Home position in the Control Calibration Out column. This parameter is changed by a control
calibration procedure.
TIPos_ChX
Tip Strip: H-Bridge channel X integral time for PID when Theta is greater than limp home angle
Units: s (seconds)
Detail: Specifies Integral time for the throttle control PID function while
PosSetpoint_ChX
is greater than
LHPsn_Out_ChX Limp Home position. The integral time is equivalent to the electro-mechanical time-constant of
the throttle body. Smaller integral times intensify the integral action. When TI is set to zero, the integral action is
disabled. This parameter is changed by a control calibration procedure.