PID
Description
Continuous Proportional-Integral-Derivative (PID) Controller defined as:
Derivative function: A first-order low-pass filter can be applied to the derivative term to reduce noise and prevent instability. Set Kf > 0 to enable the filter.The equivalent filter time constant is:
Output saturation: The parameters Umin and Umax define the lower and upper limits of the controller output. When saturation occurs, an anti-windup mechanism can be applied to the integral term. Three modes are available:
-
"NoAntiWindup": Disables the anti-windup mechanism. The integrator continues to accumulate during saturation, which may cause a delay before the output desaturates.
-
"ConditionalIntegration": Activates a conditional anti-windup method. When the PID output is saturated and the output (u) and the error(e) have the same sign, the integrator is instantly frozen.
- "BackCalculation": Activates a feedback correction loop on the integrator. When the PID output saturates, a feedback signal adjusts the integral term to reduce windup. The loop gain Kb defines the speed of this correction.
Library
Control > Continous
Pins
| Name | Description |
|---|---|
| In | Input |
| Out | Output |
Parameters
| Name | Description |
|---|---|
| Kp | Proportional gain |
| Kd | Derivative gain |
| Kf | Derivative low-pass filter gain |
| Ki | Integral gain |
| Iinit | Initial integral contribution |
| Umin | Minimal saturation |
| Umax | Maximal saturation |
| IntegrationMethod | Integration method |
| Kb | Antiwindup correction factor |
| SamplingTime | -none or 0: No sampling. The system will be solved in the Newton loop (default). -auto: Inherit the sampling time of its source device. -Sampling Period: defined in seconds. |