Siemens SPS starter kit 6ED1057-3BA00-0AA8 12 Vdc, 24 Vdc 6ED1057-3BA00-0AA8 Ficha De Dados
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Códigos do produto
6ED1057-3BA00-0AA8
Reference material
5.3 Special functions
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Operating Instructions, 06/2014
M
n
= M
Pn
+ M
In
= k
P
× e
n
+ k
I
× (T
S
/ T
I
) × e
n
+ M
In-1
M
n
: Manipulated variable at the time n
M
Pn
: Proportional part of the manipulated variable
M
In
: Integral part of the manipulated variable
M
In-1
: Manipulated variable of the I controller at the time n-1; also called integral sum
k
P
: Gain of the P controller
k
I
: Gain of the I controller
T
S
: Sampling time, duration of a time slice
T
I
: Integral time; by means of this time the influence of the integral part is controlled on the
manipulated variable, also known as the integral-action time
e
e
n
: Loop error at the time n
The following picture shows a jump in process value and step response of the controller:
Summary
The PI controller has the following characteristics:
● The P controller components quickly intercept an occurring loop error.
● The I controller components can then remedy the remaining loop error.
● The controller components supplement each other so that the PI controller works quickly
The PI controller has the following characteristics:
● The P controller components quickly intercept an occurring loop error.
● The I controller components can then remedy the remaining loop error.
● The controller components supplement each other so that the PI controller works quickly
and precisely.