199
:Looperroratthetimen
:Looperroratthetimen-1;etc.
:Looperroratthebeginningofthecalculations
Thefollowingpictureshowsajumpinprocessvalueandstepresponseofthecontroller:
Summary
ThePIcontrollerhasthefollowingcharacteristics:
Itsetstheprocessvalueexactlytothecommandvariable.
Bysodoing,ittendstooscillateandisunstable.
ItrequiresmoretimetocarryoutthecontrolactionthanthePcontroller.
PIcontroller
APIcontrollerreducesthelooperrorimmediatelyandwilleventuallydrivethelooperrortozero.
:Manipulatedvariableatthetimen
:Proportionalpartofthemanipulatedvariable
:Integralpartofthemanipulatedvariable
:ManipulatedvariableoftheIcontrolleratthetimen-1;alsocalledintegral
sum
:GainofthePcontroller
:GainoftheIcontroller
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