Incremental algorithms in integral mode
The controller can be set to a purely integral mode (kp = 0).
Here too, the equations are divided into the following categories, depending on the aw_type element:
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Element
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Meaning
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aw_type = 0
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aw_type = 1
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Integral mode:
aw_type = 0
The following equations apply to normal incremental algorithms of controllers in integral mode;
If en_rcpy = 0, then:
If en_rcpy = 1, then:
Value of the integral component TermI:
Value of the feed forward component TermFF
Integral mode:
aw_type = 1
The following equations apply to incremental algorithms of integral controllers with bumpless antiwindup measures;
Value of the integral component TermI:
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:
