Convert Gain

Converts gains in the Academic, Parallel, or Series form to the form you specify.

1378

Inputs/Outputs

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gains in

Proportional gain, integral gain, derivative gain, or filter coefficient parameter of the controller.

This input accepts a cluster or an array of clusters. The cluster elements change according to the controller type. This node supports the following controller types:

  • PD (Proportional-Derivative)
  • PI (Proportional-Integral)
  • PID (Proportional-Integral-Derivative)
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input structure

Form of the input gains.

Academic 0 Specifies that the gains are in the Academic form.
Parallel 1 Specifies that the gains are in the Parallel form.
Series 2 Specifies that the gains are in the Series form. This item is available only when you wire PID or PD gains values to gains in. For PI controllers, the Series form is the same as the Academic form.

Default value: Academic

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output structure

Form of the output gains.

Academic 0 Specifies that the output gains are in the Academic form.
Parallel 1 Specifies that the output gains are in the Parallel form.
Series 2 Specifies that the output gains are in the Series form. This item is available only when you wire PID or PD gains values to gains in. For PI controllers, the Series form is the same as the Academic form.

Default value: Academic

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gains out

Output proportional gain, integral gain, derivative gain, or filter coefficient parameter of the controller.

This output can return a cluster or an array of clusters. The cluster elements change according to the controller type. This node supports the following controller types:

  • PD (Proportional-Derivative)
  • PI (Proportional-Integral)
  • PID (Proportional-Integral-Derivative)

Programming Patterns

You can call the Create Gain node to obtain gain values for a controller before using this node.

Gain Cluster Elements for Different Controller Types

The following table shows the elements the input and output gain clusters contain for different controller types.

Controller Type Gain Cluster Elements
PD proportional gain, derivative gain, and derivative lowpass filter coefficient
PI proportional gain and integral gain
PID proportional gain, integral gain, derivative gain, and derivative lowpass filter coefficient