1 General Part -- Fundamental control technology termsManual
SIPART DR21
C73000-B7476-C143-08
11
D PD controller, step-forced response
In the case of the PD controller, the decaying D component is superimposed on the P com-
ponent. The D component depends on the derivative action gain Vv and the derivative action
time Tv.
y
t
Tv
Vv
Kp · Vv · xd
Kp · xd
y
O
=0
Figure 1-4 Step-forced response of PD controller
D PI controller, step-forced response
In contrast to the P controller , a steady-state deviation is prevented in the PI controller by
the integral component.
A characteristic of the integral component is the integral action time Tn.
y
t
Kp · xd
Tn
Figure 1-5 Step-forced response of PI controller
D PID controller, step-forced response
The PID controller results in improvement of the dynamic control quality as a result of the
additional application of a D component.
Refer to the PD and PI controllers.
y
t
Kp · xd
Tn
Tv
Vv
Figure 1-6 Step-forced response of PID controller
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