| Input KT |
REAL (critical gain) |
| TT |
REAL ( Period of the critical Vibration ) |
| PI |
BOOL (TRUE if parameters for PI controller are determined) |
| PID |
BOOL (TRUE if parameters for PID controller) |
| Config P_K |
REAL:= 0.5 (default value KP for P controller) |
| PI_K |
REAL:= 0.45 (default value KP for PI controller |
| PI_TN |
REAL:= 0.83 (default value of TN for PI controller) |
| PID_K |
REAL:= 0.6 (default value KP for PID controller) |
| PID_TN |
REAL:= 0.5 (default value of TN for PID controller) |
| PID_TV |
REAL:= 0.125 (default value TV for PID controller) |
| Output KP |
REAL (variable gain KP) |
| TN |
REAL (past set time of the integrator) |
| TV |
REAL (retention time of the differentiator) |
| CI |
REAL ( Gain of the integrator) |
| KD |
REAL ( Gain of Differentiator ) |
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CONTROL_SET2 calculated setting parameters for P, PI and PID controller according to the Ziegler-Nichols method. Here, the delay time TU and compensatory time TG is given. The parameters are determined by the step response of the controlled system is measured. TU is the time after which the output of the system 5% of its maximum value reached added. TG is the time at the turn of the tangent of the controlled system. KS actual value is the controlled / manipulated variable change. |
| The following chart shows the determination of TU and TG with the inflection tangent method |
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| The default values of the tuning rules are defined in Config variables and can be changed by the user. The following table shows the Default Values |
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