Parallel
- Updated2023-02-17
- 5 minute(s) read
Parallel
Returns PID gains of a PID controller in the Parallel form.
Inputs/Outputs
derivative unit
Unit associated with the derivative gain.
This input accepts a ring or an array of rings.
| 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 value: 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.
integral unit
Unit associated with the integral gain.
This input accepts a ring or an array of rings.
| 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 value: 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.
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.
| 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 value: Gain (K)
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.
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.
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.
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 value: NaN.
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.
| 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 value: Alpha
action
Action of the controller.
This input accepts a ring or an array of rings.
| Reverse | 0 | The controller is reverse-acting. |
| Direct | 1 | The controller is direct-acting. |
Default value: Reverse
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.
proportional
Proportional gain of the controller.
integral
Integral gain of the controller.
derivative
Derivative gain of the controller.
filter coefficient [a]
Derivative lowpass filter coefficient of the controller.
Algorithm Definition
The following transfer function represents a PID controller in the Parallel form:
where
-
is the proportional gain
-
is the integral gain
-
is the derivative gain
-
is the derivative filter coefficient