Burkert Type 8693 - Manual (Page 238)

238
General Rules (Appendix)
57.5. implemented pid controller
57.5.1. d portion with delay
In the process controller of the positioner the D portion is implemented with a delay T.
Function:
(9)
t d
d X d
d K Y
t d
Y d
T ⋅ = + ⋅
Superposition.of.P,.I.and.DT.Portions
X
Xd
Y
t
t
Xd
T
T
Figure 137: Characteristic of superposition of P, I and DT Portions
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Type 8692,8693