Burkert 8792 - Adjustment Rules for PID Controllers

237
Additional technical information
40.5. Implemented PID controller
40.5.1. D Portion with delay
In the process controller Type 8793 the D portion is implemented with a delay T.
Function:
(9)
t d
d X d
dK 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
40.5.2. Function of the real PID controller
(10)
t d
d X d
v Tt d d X
n T
1
d X ( pK Y
t d
Y d
T
∫
++=+⋅
Superposition of P, I and DT Portions
X
Xd
Y
t
t
Tn
Kp⋅Xd
Xd
T
Kp
Figure 138: Characteristic of step response of the real PID controller; adjustment rules for PID controllers
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Type 8792, 8793