Baumuller b maXX BM2500, Руководство по эксплуатации

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Configuration
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
270
of 820
4.4
4.4.17 Freely programmable PID controller
These two freely programmable PID controller can be used for realization of user-specific
feedback control problems.
m
The cycle time is 250 µs.
m
The single controllers (P, I, D) can be switched on and switched off separately by
selection of the corresponding bits in the PID controller mode.
m
The PID controller can be synchronized with current, speed or position controller, i.e.
the controller is only then activated, when current, speed or position controller are
active.
m
Set value, actual value and output can be freely selected via freely configurable
source or target parameters.

Set value and actual value can be specified alternatively via open-loop c
fieldbus or analogous inputs. The output can be read out via open-loop c
fieldbus or analogous output.
The freely programmable controller can be configured as P, PI, PD, PID, I, ID and D con-
troller by selection of the corresponding bits in the PID controller mode. The activation of
the PID controller can be synchronized with current, speed or position controller by selec-
tion of the bits in PID controller mode.
Algorithm
The following transfer function is true for the PID controller:
Kp = P - gain
Tv = Derivative time
Tn = Integral action time
With
and
we obtain:
This means that Kp is effective for the D and I controller even then if the P controller is
inactive.
The functional diagram is described below:
G s
 
Y s
 
U s
 
----------- Kp
Kp
Tn s

------------- Kp Tv s
 
+ + = =
Ki
Kp
Tn
------- =
Kd Kp Tv

=
G s
 
Kp
Ki
s
------ Kd s

+ + =