. implemented.pid.controller, D portion with delay, Implemented pid controller – Burkert Type 8693 User Manual
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238
General Rules (Appendix)
57.5. implemented pid controller
57.5.1. d portion with delay
In the process controller of the positioner the D portion is implemented with a delay T.
Function:
(9)
t
d
d
X
d
d
K
Y
t
d
Y
d
T
⋅
=
+
⋅
Superposition.of.P,.I.and.DT.Portions
X
Xd
Y
t
t
Xd
T
T
Figure 137: Characteristic of superposition of P, I and DT Portions
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Type 8692,8693
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