Controller type selection for COMP_PID
Original instructions
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Controller types
There are four different control types, which are selected via the parameters en_p, en_i and en_d.
Controller type
en_p
en_i
en_d
P controller
1
0
0
PI controller
1
1
0
PD controller
1
0
1
PID controller
1
1
1
I controller
0
1
0
The I component can also be disabled with ti = 0.
The D contribution can also be disabled with td = 0.
OFF parameter influence
If the I component is enabled (en_i = 1), the manipulated variable Y is determined from the summation of the components YP, YI, YD, and FEED_FWD. Offset is not included in the calculation when the I component is enabled.
However, if the I component is disabled (en_i = 0), the manipulated variable is formed from the summation of the components YP, YD, FEED_FWD, and the offset OFF.
NOTE: The OFF parameter is only designed for P, D, or PD controllers.