Formulas
(Original Document)
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Transfer Function
The transfer function is:
The I component can be disabled by setting tn = 0.
Calculation Formulas
The calculated formulas are:
Output Signal Y
The output signal Y is then:
Y = YP + YI
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
delta_t
time delta T (in ms) since last solve
xd
calculated control difference (calculated error value), deviation
YI
I component
YP
P component
Y
manipulated value, result of YP + YI