Formulas
Original instructions
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Transfer function
The transfer function is:
The I component can be disabled by setting TI = 0.
Calculation formulas
The calculation formulas are:
Output signal Y
The output signal Y is then:
The I component is formed according to the trapezoid rule.
Explanation of formula variables
The meaning of the formula variables is given in the following table:
Variable
Meaning
Present sample time
System deviation (SP - PV)
System deviation value from the previous sampling step
YI
I component
YP
P component