Siemens Simatic S7-1500

Instructions
9.1 PID_Compact
PID control
246 Function Manual, 03/2017, A5E35300227-AC
9.1.4
PID_Compact V2
9.1.4.1
Description of PID_Compact V2
Description
The PID_Compact instruction provides a PID controller with integrated tuning for actuators
with proportional action.
The following operating modes are possible:
● Inactive
● Pretuning
● Fine tuning
● Automatic mode
● Manual mode
● Substitute output value with error monitoring
For a more detailed description of the operating modes, see the State parameter.
PID algorithm
PID_Compact is a PIDT1 controller with anti-windup and weighting of the proportional and
derivative actions. The PID algorithm operates according to the following equation:
Symbol
Description
y
Output value of the PID algorithm
K
p
Proportional gain
s
Laplace operator
b
Proportional action weighting
w
Setpoint
x
Process value
T
I
Integral action time
T
D
Derivative action time
a
Derivative delay coefficient (derivative delay T1 = a × T
D
)
c
Derivative action weighting