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t k
0 e ( t *) dt e j t k ek 1
de e(8-24)
(8-25)
j =1 dt t
where:
t = the sampling period (the time between successive measurements of the
controlled variable)
ek = error at the kth sampling instant for k = 1, 2,
Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus
Digital Controller PID
t k D
pk = p + K c ek + e j + ( ek ek 1 ) (8-26)
1 j =1 t
Note that the summation still begins at j = 1 because it is assumed that the process is at
the desired steady state for j 0 and thus ej = 0 for j 0. Subtracting (8-27) from (8-
26) gives the velocity form of the digital PID algorithm:
t
pk = pk pk 1 = K c ( ek ek 1 ) + ek + D ( ek 2ek 1 + ek 2 )
I t
(8-28)