Incremental algorithm PID controller
For the PID controller ( ti > 0), the equations are divided into the following categories, depending on the aw_type element.
|
Element
|
Meaning
|
|
aw_type = 0
|
|
|
aw_type = 1
|
|
PID controller:
aw_type = 0
The following equations apply to normal incremental algorithms of PID controllers;
If en_rcpy = 0, then:
If en_rcpy = 1, then:
Value of the proportional component TermP:
Value of the integral component TermI:
Value of the differential component TermD
Value of the feed forward component TermFF
PID controller:
aw_type = 1
The following equations apply to incremental algorithms of PID controllers with bumpless anti-windup measures;
Value of the proportional component TermP:
Value of the integral component TermI:
Value of the differential component TermD
Value of the feed forward component TermFF
Value of the bumpless anti-windup measure TermAW
If en_rcpy = 0, then:
If en_rcpy = 1, then:
