Last Modified: March 31, 2017

Returns PD gains of a PD controller in the Parallel form.

Unit associated with the derivative gain.

This input accepts a ring or an array of rings.

Name | Value | Description |
---|---|---|

Hz | 0 | Specifies that the derivative gain is expressed in Hz. |

s | 1 | Specifies that the derivative gain is expressed in seconds. |

min | 2 | Specifies that the derivative gain is expressed in minutes. |

**Default: **The default value of this input changes depending on the data type you wire. If you wire a ring to this input, the default is s. If you wire an array of rings to this input, the default is Hz.

Unit associated with the proportional gain.

The relationship between the available units is K = 100/PB.

This input accepts a ring or an array of rings.

Name | Value | Description |
---|---|---|

Gain (K) | 0 | Specifies that the proportional gain is expressed in terms of proportional gain (K). |

Band (PB) | 1 | Specifies that the proportional gain is expressed in terms of proportional band (PB). |

**Default: **Gain (K)

Value of the proportional component of the controller.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Value of the derivative component of the controller.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Derivative lowpass filter coefficient of the controller.

If you specify a value for **filter coefficient unit**, you must also specify a value for **filter coefficient [a]**. When **filter coefficient unit** is Alpha, the valid value range of **filter coefficient [a]** is [0, 1]. When **filter coefficient unit** is N, the valid value range of **filter coefficient [a]** is [1, 1000].

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

**Default: ** NaN.

Unit of the derivative lowpass filter coefficients.

The relationship between the available units are as follows: N = 1/Alpha; Time Constant = 1/(2 * *Pi* * Cutoff Frequency).

This input accepts a ring or an array of rings.

Name | Value | Description |
---|---|---|

Alpha | 0 | Specifies that the filter coefficients are expressed in Alpha. |

N | 1 | Specifies that the filter coefficients are expressed in N. |

Cutoff Frequency | 2 | Specifies that the filter coefficients are expressed in Hz. |

Time Constant | 3 | Specifies that the filter coefficients are expressed in seconds. |

**Default: **Alpha

Action of the controller.

This input accepts a ring or an array of rings.

Name | Value | Description |
---|---|---|

Reverse | 0 | The controller is reverse-acting. |

Direct | 1 | The controller is direct-acting. |

**Default: **Reverse

Proportional gain and derivative gain parameters of the controller.

This output can return a cluster or an array of clusters.

Proportional gain of the controller.

Derivative gain of the controller.

Derivative lowpass filter coefficient of the controller.

The following transfer function represents a PD controller in the Parallel form:

${C}_{p}\left(s\right)={K}_{p}^{\prime}+\frac{{K}_{d}^{\prime}s}{{\alpha}_{p}{K}_{d}^{\prime}s+1}$

where ${K}_{p}^{\prime}$ is the proportional gain, ${K}_{d}^{\prime}$ is the derivative gain, and ${\alpha}_{p}$ is the derivative filter coefficient.

**Where This Node Can Run: **

Desktop OS: Windows

FPGA: This product does not support FPGA devices