Allen-Bradley Logix5000 Reference Manual

Rockwell Automation Publication 1756-RM003N-EN-P - October 2011 519
Special Instructions (FBC, DDT, DTR, PID) Chapter 13
When using dependent gains, the proportional gain is replaced with a
controller gain that affects all three terms. You can use either form of equation
to perform the same type of control. The two equation types are merely
provided to let you use the equation type with which you are most familiar.
Gains Option Derivative Of Equation
Dependent gains
(ISA standard)
Error (E)
Process variable (PV)
Independent gains Error (E)
Process variable (PV)
CV K
C
E
1
T
i
----
Edt T
d
dE
dt
-------
+
0
t

+ BIAS+=
CV K
C
E
1
T
i
----
Edt T
d
–
dPV
dt
-----------
0
t

+ BIAS+=
E = SP -
CV K
C
E
1
T
i
----
Edt T
d
dPV
dt
-----------
+
0
t

+ BIAS+=
E = PV -
CV K
P
EK
i
+ Edt K
d
dE
dt
-------
+
0
t

BIAS+=
CV K
P
EK
i
+ Edt K
d
–
dPV
dt
-----------
0
t

BIAS+=
E = SP -
CV K
P
EK
i
+ Edt K
d
dPV
dt
-----------
+
0
t

BIAS+=
E = PV -

Allen-Bradley Logix5000 Specifications

General

Brand	Allen-Bradley
Model	Logix5000
Category	Controller
Language	English