Burkert 1067 Manuel Utilisateur page 94

APPENDIX
Realised PID controller
D component with delay :
In the 1067 positioner, the D component is realised with a delay T.
dY
Function :
T + Y = Kd
dt
Supperposition of P-, I- and DT components :
Function of the real PID controller :
dY
T
dt
X
Xd
Y
Tv
Kp
T
Kp Xd
Tn
Step response of the real PID controller
dXd
dt
1
+ Y = Kp (Xd +
Tn
t
t
POSITIONER 1067
X
Xd
Y
Kd
T
T
Step response
d Xd
ƒ Xd dt + Tv
dt
E-42-
t
t
)