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Create Gain (PID » Series) (G Dataflow)

Version:
    Last Modified: March 31, 2017

    Returns PID gains of a PID controller in the Series form.

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    derivative unit

    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.

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    integral unit

    Unit associated with the integral gain.

    This input accepts a ring or an array of rings.

    Name Value Description
    Hz 0 Specifies that the integral gain is expressed in Hz.
    s 1 Specifies that the integral gain is expressed in seconds.
    min 2 Specifies that the integral 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.

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    proportional unit

    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)

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    proportional

    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.

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    integral

    Value of the integral component of the controller.

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

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    derivative

    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.

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    filter coefficient [a]

    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.

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    filter coefficient unit

    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

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    action

    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

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    PID gains

    Proportional gain, integral gain, derivative gain, and filter coefficient parameters of the controller.

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

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    proportional

    Proportional gain of the controller.

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    integral

    Integral gain of the controller.

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    derivative

    Derivative gain of the controller.

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    filter coefficient [a]

    Derivative lowpass filter coefficient of the controller.

    Algorithm Definition

    The following transfer function represents a PID controller in the Series form:

    C s ( s ) = K c ( 1 + 1 T I s ) ( T D s + 1 α s T D s + 1 )

    where

    • K c is the proportional gain
    • T I is the integral time constant
    • T D is the derivative time constant
    • α s is the derivative filter coefficient

    Where This Node Can Run:

    Desktop OS: Windows

    FPGA: This product does not support FPGA devices


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