MIQ/CR3; DIQ/CR3
Settings
4 - 31
ba64107e08
05/2006
4.6.2
PID controller
Function
With the
PID controller
function, you can use an output as a controller
output. The controller can be configured as a
P
roportional controller
with a switchable
I
ntegral and
D
erivative controller part (
PID
controller).
The control mode of the PID controller is described by the following
equation:
with:
The adjustable control parameters are
x
nominal
, I
0
, X
p
, I
min
, I
max
, T
i
and T
d
(see setting table on page 4-34).
I
Controller
Current at the controller output at time t
I
0
Current at output if
x
actual
= x
nominal
K
Gain
X
p
Proportional band
x
e
Error signal
x
actual
Actual value (current measured value)
x
nom
Nominal value
T
i
Integral control part
T
d
Derivative control part
t
Time
I
min
Lower current limitation
I
max
Upper current limitation
!!
∀
#
∃∃
%
&
+
+
+
=
∋
δτ
δξ
Τ
δτ
ξ
Τ
1
ξ
Κ
Ι
Ι
ε
δ
ε
ι
ε
0
Χοντρολλερ
π
µιν
µαξ
Ξ
Ι
Ι
Κ
−
=
νοµ
αχτυαλ
ε
ξ
ξ
ξ
−
=
µαξ
Χοντρολλερ
µιν
Ι
Ι
Ι
≤
≤
Oxley Creek WWTP Water Reclamation (WTW - ba64107e08_xIQ_CR3) Vendor Manual
Doc Id: VM20
Owner: Howard Witten
Active Date: 15/12/2006
