230
conTenTs
39. SELECTION CRITERIA FOR CONTINUOUS VALVES .................................................................................................231
40.
PROPERTIES OF PID CONTROLLERS ...............................................................................................................................233
40.1.
P-portion ............................................................................................................................................................................... 233
40.2.
I-portion ................................................................................................................................................................................. 234
40.3.
D-portion ............................................................................................................................................................................... 235
40.4.
Superposition of P, I and D Portions ..................................................................................................................... 236
40.5.
Implemented PID controller ....................................................................................................................................... 237
40.5.1. D Portion with delay ..................................................................................................................... 237
40.5.2. Function of the real PID controller ............................................................................................ 237
41.
ADJUSTMENT RULES FOR PID CONTROLLERS .......................................................................................................... 238
41.1.
Adjustment rules according to Ziegler and Nichols (oscillation method) ........................................ 238
41.2.
Adjustment rules according to Chien, Hrones and Reswick (actuating variable jump method) . .
240
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