Implements autotuning using the Ziegler-Nichols tuning method. If a plant model does not have delay, Ziegler-Nichols tuning does not work. In this case, the node switches to internal mode control to estimate the system response.
Desired response performance of the PID parameters.
|Fast||0||Specifies a fast response performance. Faster response generally results in a smaller rise time.|
|Normal||1||Specifies a normal response performance.|
|Slow||2||Specifies a slow response performance. Slower response generally results in less overshoot.|
Parameters to return as PID gains.
|P||0||Returns only the proportional parameters.|
|PI||1||Returns the proportional and integral parameters.|
|PID||2||Returns the proportional, integral, and derivative parameters.|
Stimulus signal for the system.
Response signal of the system.
Initial value for the controller gain.
This node uses this input to calculate integral of PID gains.
Loop-cycle time or interval, in seconds, at which this node is called.
dt must be greater than zero.
Proportional gain, integral gain, derivative gain, and filter coefficient parameters of the controller.
This output can return a cluster or an array of clusters.
Proportional gain of the controller.
Integral gain of the controller.
Derivative gain of the controller.
Derivative lowpass filter coefficient of the controller.
Stimulus offset for the plant.
Response offset for the plant.
Gain, time constant, and dead time of the plant.
Process gain (K).
Time constant (T), in seconds.
Dead time (L), in seconds.
Where This Node Can Run:
Desktop OS: Windows
FPGA: This product does not support FPGA devices