Code Alarm CR3 Manual de servicio descargar pdf (Pagina 46)

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

, X

, I

min

, I

max

, ti

and T

(see setting table on page 4-35).

Controller

Current at the controller output at time t

Current at output if x

actual

= x

nominal

K Gain

Proportional band

Error signal

actual

Actual value (current measured value)

nom

Nominal value

ti Integral control part

td Derivative control part

t Time

min

Lower current limitation

max

Upper current limitation













+++=



Tdtx

xKII

e0Controller

minmax

−

actualnome

xxx −=

maxControllermin

III ≤≤

1 2 ... 41 42 43 44 45 46 47 48 49 50 51 ... 65 66

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Code Alarm CR3 Manual de servicio Pagina 46

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