HBM ClipX Bedienungsanleitung Seite 96

y
y
r
θ
Abb. 52: Example for coordinates transformation
If one of the source signals is invalid, all the output signals will become invalid as well.
The calculation will nevertheless be performed and the result exported.
7.4.2.16 PID controller
This calculation implements a PID controller in parallel structure. The PID (Proportional
Integral Derivative) controller consists of three elements: the P term, I term and D term.
The parallel structure of the controller prevents a wind-up effect. You can limit the out-
put signal via Y
max
T is the parasitic time constant at 1/update rate = 1 ms.
d
Set Point
+
-
Process
Value
Abb. 53: Block diagram of the PID controller
You cannot define the PID controller as a simple P controller. At least one I
element must be present in addition (T
94
x
x
and Y . When one of the values is reached the Min/Max Flag is set.
min
K
p
G(s) = 1
1
G(s) =
T *s
i
T *s
d
G(s) =
T *s + 1
d
≥ 0.01 s).
i
+
+
Regulating
Variable
+
Starting up the ClipX
ClipX