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E-42-
POSITIONER 1067APPENDIX
Realised PID controller
D component with delay :
In the 1067 positioner, the D component is realised with a delay T.
Function : T + Y = Kd
Step response
Supperposition of P-, I- and DT components :
Function of the real PID controller :
T + Y = Kp (Xd + ƒ Xd dt + Tv )
dY
dt
1
Tn
d Xd
dt
Step response of the real PID controller
Kp Xd
X
Xd
Y
Kp
T
t
t
Tn
Tv
X
Xd
Y
Kd
T
t
t
T
dY
dt
dXd
dt