DIQ/S 281
Outputs
121
ba76226e02
03/2023
6.7.2
PID controller
Function
The
PID controller
function can use an output as a controller output. The regu-
lator can be configured as a
P
roportional regulator with switchable
I
ntegral and
D
ifferential regulator parts (
PID
Controller).
The control response of the PID controller is described by the following formula:
The adjustable control parameters are
x
set
, I
0
, X
p
, I
min
, I
max
,
ti
and
td
(see setting
table on page 124).
By activating or deactivating the
I
ntegral (
ti
) and
D
ifferential (
td)
controller part,
the following controller types can be configured:
Regulator type
td
[s]
ti
[s]
P controller
0
0
with:
I
Controller
Current on the controller output at time t
I
0
Current on the output if x
actual
= x
set
K
Amplification
X
p
Proportional range
x
e
Control difference
x
actual
Actual value (current measured value)
x
set
Set value
ti
Integral algorithm
td
Differential control part
t
Time
I
min
Lower current limitation
I
max
Upper current limitation
+
+
+
=
dt
dx
T
dt
x
T
1
x
K
I
I
e
d
e
i
e
0
Regler
p
min
max
X
I
I
K
−
=
ist
soll
e
x
x
x
−
=
max
Regler
min
I
I
I
≤
≤
Summary of Contents for DIQ/S 281
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