Converts a PID controller or controllers in Academic, Parallel, or Series form into the form (Academic) and PID gains units that the PID VIs expect. Wire data to the proportional, integral, or derivative input to determine the polymorphic instance to use, or manually select the instance.


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Inputs/Outputs

  • cu16.png proportional unit —

    proportional unit specifies the units associated with the proportional (P) component of the PID controller to convert.

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

    0
    Gain (Kc)
    (default)—Specifies that the proportional component is expressed in terms of proportional gain (Kc).
    1
    Band (PB)
    —Specifies that the proportional component is expressed in terms of proportional band (PB).
  • cu16.png PID structure —

    PID structure specifies the initial form of the PID controller.

    Refer to the Details section of this topic for the equations that represent each form.

    0
    Academic (Standard)
    (default)—Specifies that the controller is in PID Academic form.
    1
    Parallel
    —Specifies that the controller is in PID Parallel form.
    2
    Series
    —Specifies that the controller is in PID Series form.
  • cdbl.png proportional —

    proportional specifies the value of the proportional (P) component of the PID controller to convert.

  • cdbl.png integral —

    integral specifies the value of the integral (I) component of the PID controller to convert.

  • cdbl.png derivative —

    derivative specifies the value of the derivative (D) component of the PID controller to convert.

  • cu16.png integral unit —

    integral unit specifies the units associated with the integral (I) component of the PID controller to convert.

    0
    min
    (default)—Specifies that the integral component is expressed in minutes.
    1
    s
    —Specifies that the integral component is expressed in seconds.
  • cu16.png derivative unit —

    derivative unit specifies the units associated with the derivative (D) component of the PID controller to convert.

    0
    min
    (default)—Specifies that the derivative component is expressed in minutes.
    1
    s
    —Specifies that the derivative component is expressed in seconds.
  • inclst.png PID gains —

    PID gains returns the updated PID gains parameters, which you can use with other PID VIs.

  • idbl.png proportional gain (Kc) —

    proportional gain (Kc) returns the proportional gain of the controller.

  • idbl.png integral time (Ti, min) —

    integral time (Ti, min) returns the integral time in minutes.

  • idbl.png derivative time (Td, min) —

    derivative time (Td, min) returns the derivative time in minutes.

    • Each PID form produces the same result but incorporates information in a different manner. The following equations describe each form:

    PID Academic

    PID Parallel

    To convert a controller in Parallel form to Academic form, this VI converts the proportional, integral, and derivative values according to their changes in units and applies the following transformations:

    Kc = Kp Ti = Kc / Ki Td = Kd / Kp

    PID Series

    To convert a controller in Series form to Academic form, this VI converts the proportional, integral, and derivative values according to their changes in units and applies the following transformations:

    Ti = T'I + T'D