Technical data

Settings MIQ/CR3; DIQ/CR3
4 - 32
ba76032e01 01/2012
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 Proportional controller
with a switchable Integral and Derivative 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
, ti
and T
d
(see setting table on page 4-35).
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
ti Integral control part
td Derivative control part
t Time
I
min
Lower current limitation
I
max
Upper current limitation








+++=

dt
dx
Tdtx
T
1
xKII
e
de
i
e0Controller
p
minmax
X
II
K
−
=
actualnome
xxx −=
maxControllermin
III ≤≤