3 pid controller – YSI DIQ/S 182 XT-4 System 182 XT-4 User Manual
Page 120
Outputs
System 182 XT-4
6 - 28
ba76026e01
01/2012
6.5.3
PID controller
Function
The PID controller function can use an output as a controller output.
The controller can be configured as a Proportional controller with a
switchable Integral and Differential controller parts (PID controller).
The control response of the PID controller is described by the following
formula:
with:
The adjustable control parameters are x
set
, I
0
, X
p
, I
min
, I
max
, ti and td
(see setting table on page 6-31).
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
act
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
Controller
p
min
max
X
I
I
K
−
=
act
set
e
x
x
x
−
=
max
Controller
min
I
I
I
≤
≤