Converts PID gains in the Academic, Parallel, or Series form to the normalized Parallel form that the PID VI expects.


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Inputs/Outputs

  • cu8.png gains pattern (Parallel) —

    gains pattern specifies the form of the PI gains.

    0Academic—Specifies that the gains are in the Academic form.
    1Parallel (default)—Specifies that the gains are in the Parallel form.
    2Series—Specifies that the gains are in the Series form.
  • csgl.png proportional —

    proportional specifies the value of the proportional gain.

  • csgl.png integral —

    integral specifies the value of the integral gain.

  • csgl.png sampling time —

    sampling time specifies the loop time, in seconds, at which the PID loop on the FPGA target runs.

  • cerrcodeclst.png error in (no error) —

    error in describes error conditions that occur before this node runs. This input provides standard error in functionality.

  • cu8.png proportional unit (Gain (K)) —

    proportional unit specifies the unit of the proportional gain. The relationship between the available units is K = 100 / PB.

    0Gain (K) (default)—Specifies that the proportional gain is expressed in terms of proportional gain (K).
    1Band (PB)—Specifies that the proportional gain is expressed in terms of proportional band (PB).
  • cu8.png integral unit (Hz) —

    integral unit specifies the units of the integral gain.

    0Hz (default)—Specifies that the integral gain is expressed in hertz.
    1s—Specifies that the integral gain is expressed in seconds.
    2min—Specifies that the integral gain is expressed in minutes.
  • inclst.png gains —

    gains returns the normalized PI gain parameters.

  • isgl.png proportional gain —

    proportional gain returns the normalized proportional gain. In equations that define the PID gains conversion, Kp represents proportional gain.

  • isgl.png integral gain —

    integral gain returns the normalized integral gain. In equations that define the PID gains conversion, Ki represents integral gain.

  • ierrcodeclst.png error out —

    error out contains error information. This output provides standard error out functionality.

    • Use the following table to understand the details about the equations that the Convert PID Gains VI uses when converting the PID gains. The converted PID gains are Kp, Ki, and Kd, respectively.

    Original PID Form Original Gains: Units Conversion Equations
    Academic Kc: Gain (K)
    Ti: s
    Td: s
    Parallel Kp': Gain (K)
    Ki': Hz
    Kd': s
    Series KC': Gain (K)
    TI': s
    TD': s

    Examples

    Refer to the following example files included with LabVIEW FPGA Module.

    • labview\examples\CompactRIO\FPGA Fundamentals\FPGA Math and Analysis\Floating-point PID\Multi-Channel PID\Multi-Channel PID.lvproj
    • labview\examples\CompactRIO\FPGA Fundamentals\FPGA Math and Analysis\Floating-point PID\Multi-Rate PID\Multi-Rate PID.lvproj
    • labview\examples\R Series\FPGA Fundamentals\FPGA Math and Analysis\Floating-point PID\Multi-Channel PID\Multi-Channel PID.lvproj
    • labview\examples\R Series\FPGA Fundamentals\FPGA Math and Analysis\Floating-point PID\Multi-Rate PID\Multi-Rate PID.lvproj