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DIGITAL INDUSTRIAL CONTROLLER
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Superposition of P, I and D components:
CO = Kp PVd + ∫ PVd dt +
where Kp · Ti = Tr and Kd/Kp = Td results with regard to
functioning of the PID
controller:
CO = Kp (PVd + ∫ PVd dt + Td* )
Kp:
Proportional action coefficient / gain
Tr :
Reset time
(The time needed to achieve the same manipulated variable change
by the I component as is produced as the result of the P component)
Td:
Derivative action time
(The time needed to achieve a specific manipulated variable on the
basis of the D component earlier than when using a pure P controller)
Step response of the
PID controller
1
Ti
1
Tr
dPVd
dt
dPVd
dt
Rise response of the
PID controller
PV
PVd
CO
Reset time Tr
Kp * PVd
I component
P component
D component
Derivative action time Td
I component
P component
D component
CO
PV
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