HBM PMX Manuel D'emploi page 97

Quick Start
14 PID controller (pid)
Function
Inputs
Outputs
Parameters
Default
Exception handling
Cannot be used as mere P controller because of recursive calculation. An I
component should always be present.
Parasitic time constant Tp =
Tp =
A3257−2.0 en/de/fr
Quasi linearer PID controller with parallel structure and
Tp is the parasitic time constant, see below.
- Input in0 setpoint value (setpoint)
- Input in1 actual value (feedback)
- Digital Enable input (enableId)
- Gain Kp, P component
- Reset time Ti [seconds], I component
- Rate time Td [seconds], D component
- Upper limit of the controller output ymax
- Lower limit of the controller output ymin
- Default output: default is output when Enable
input = low
enabled = constant High, i.e. permanently active
If at least one of the inputs is invalid (Invalid bit),
- the output is frozen and also marked as invalid
Calculation rate
1
s = 52 s Default
19200
anti-windup
Kp (1+ 1
+
Ti * s Tp * s +1
Controller output out0
Kp = 0.0
Ti = 1e38 s
Td = 0.0 s
ymax = 1e20
ymin = -1e20
default = 0.0
- the controller is stopped
1
Td * s
)
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