Burkert Type 1110 - Handbuch (Seite 89)

1110 - 87
DIGITAL INDUSTRIAL CONTROLLER
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Superposition P, I and DT components:
Function of the real PID controller:
T + CO = Kp (PVd + ∫ PVd dt + Tv )
Step response of the real
PID controller:
1
Tr dCO
dt dPVd
dt
PV
PVd
CO
Kp
Kp * PVd
Td
T
Tr
PV
PVd
CO
PVd
T
Realised PID Controller
D component with delay:
In the digital controller, the D component ist realised with a delay T (T = 1/3 Td).
Function: T + CO= Kd
Step response:
dCO
dt dXd
dt