Burkert Type 8635 - Manual (Page 150)

148 - 8635
G
ENERAL
R
ULES
(A
PPENDIX
)
Actual PID controller
D component with delay
In the process controller of the positioner, the D component is realized with a delay T.
Function: T + Y = Kd
Tn
Kp Xd
t
Y
Kp Tv
T
t
X
Xd
Function of the real PID controller
T + Y = Kp (Xd + ∫∫∫∫∫ Xd dt + Tv )
Step response of the real PID controller
Xd
T
T
t
Y
t
X
Xd
dY
dt dXd
dt
Superimposing the P, I and DT components
dY
dt 1
Tn dXd
dt