Chapter 7. Usage of Various Functions
7-23
⑤ The D action when a constant deviation occurred is shown as Fig. 7.6
Fig. 7.6 Derivative action with a constant deviation
⑥ The expression of D action is as following;
dt
dE
TdKpMV ×=
⑦ Derivative action is used only in PID action in which P and I actions combine with D action.
(d) PID action
① PID action controls the control object with the manipulation quantity produced by (P+I+D) action
② PID action when a given deviation has occurred is shown as the following Fig. 7.7.
Fig. 7.7 PID action with a constant deviation
Manipulation quantity
in P action
Manipulation
quantity in P action
Td
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