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3Ć9 Theory of Operation: Point Processing
Original Ć June 1990 CE4.2:CL6211
The P/PD algorithm will also allow bias and transfer ramping bias to be
added. Refer to section NO TAG on page NO TAG. In this case, the final
equations become:
IVPĂ +Ă K(SP * DN) ) LOOPĂBIAS ) TBIAS
3.3.1.5 Proportional-Integral-Derivative
The Proportional-Integral-Derivative (PID) PCA provides one, two, or
three mode control capability based upon a positional control algorithm.
The PID PCA allows the proportional and derivative terms to be tuned to
zero, allowing the point to function as a PI, a PID, or an I-only controller.
Like the proportional-derivative with bias PCA, the PID control algorithm
can be viewed as a dual input, single output math function. The point's
process variable value is used as one input, the set point is the second
input, with the resulting output of the math function being the IVP of the
point.
The PID algorithm is based on the following transfer function:
IVP(s)
error(s)
Ă +Ă
K(T
i
Ăs ) 1)(T
d
Ăs ) 1)
T
i
Ăs(aĂT
d
Ăs ) 1)
where: T
i
= integral time constant
T
d
= rate time constant
a = rate action limiter; 0.125
K = proportional gain
By using an intermediate term, DN(s), the transfer function can be
rearranged to:
DN(s)
PV(s)
Ă +Ă
T
d
Ăs ) 1
aĂT
d
Ăs ) 1
IVP(s)
SP(s) * DN(s)
Ă +Ă
K(T
i
Ăs ) 1)
T
i
Ăs
The equations can then be represented in the time domain as:
DN(s)Ă +Ă T
d
dPV
dt
) PV * aĂT
d
dDN
dt
IVPĂ +Ă K[(SP * DN) )
1
T
i
ŕ
R
0
(SP * DN)dt]
- Configuring CL6010, CL6210 1
- Documentation Map 3
- Table of Contents 10
- 1 Introduction 11
- 1.4 Related Documents 12
- 1.5 Document Content 12
- 1.6 Conventions 12
- Introduction 13
- Original Ć June 1990 13
- CE4.2:CL6211 13
- 1Ć4 Introduction 14
- 2 Product Overview 15
- 2Ć2 Product Overview 16
- 2Ć3Product Overview 17
- H 2-wide unit 18
- H 4-wide unit 18
- 2Ć5Product Overview 19
- 2-WIDE IAC 4-WIDE IAC 19
- 2Ć6 Product Overview 20
- 3 Theory Of Operation 21
- 3.1.3 Overload 22
- 3.2 Point Processing 23
- 3.2.2 Fast Scan Controllers 24
- 3.3 Direct Control Points 25
- 3.3.1.2 Bias & Gain 26
- Direct Action Reverse Action 27
- Setpoint 30
- 3.3.1.6 Error Squared 31
- 3.3.1.7 Notch Gain 31
- 3.3.1.8 Adaptive Gain 32
- GF=1 GF=1 34
- GF>1 GF>1 34
- 1>GF>0 1>GF>0 34
- 0% 100%Analog Variable 34
- 3.3.2 Station Types 37
- 3.3.2.1 Modes 38
- 3.3.2.2 Mode Transfers 38
- am 50
- 3.4 Upload/Download 68
- 3.5 Communications 70
- 3.5.3 Task Priorities 71
- 3.6 Redundancy 73
- 3.6.5 Failure Detection 76
- 3.7 Controller Self Test 79
- 3.7.7 Free Time Computation 80
- 4 Configuration 83
- X00263:CL6211-0 84
- 4.1.2.1 Upload 86
- 4.1.2.2 Documentation 86
- 4Ć5Configuration Overview 87
- 4.2 Device Definition 88
- 4.2.1 FST Registers 89
- 4.2.2 Aux EU Definition 90
- H Station Type 93
- 4Ć12 DCP Configuration 94
- H Man H Aut/Man/DDC 95
- H Aut/Man H Man/DDC 95
- 4Ć14 DCP Configuration 96
- 4Ć15DCP Configuration 97
- 4Ć16 DCP Configuration 98
- 4Ć17DCP Configuration 99
- 4Ć18 DCP Configuration 100
- 4Ć19DCP Configuration 101
- 4.3.4 Station Parameters 102
- 4Ć21DCP Configuration 103
- 4Ć22 DCP Configuration 104
- 4Ć23DCP Configuration 105
- 4Ć24 FST Configuration 106
- 4Ć25FST Configuration 107
- 4Ć26 FST Configuration 108
- 4Ć27FST Configuration 109
- 4Ć28 FST Configuration 110
- AAGM AAGM 111
- 4Ć32 FST Configuration 114
- ADSVT ADSVT 115
- CONFIGURATION FORMAT: AIN ( 116
- OPERAND DESCRIPTIONS: 116
- FUNCTION EQUATIONS: 117
- AINEU AINEU 118
- AINSQR AINSQR 120
- AINTC AINTC 122
- ALMLD ALMLD 124
- ALMLD ALMLD 125
- ALMST ALMST 126
- AND AND 127
- AOUT AOUT 128
- 4Ć48 FST Configuration 130
- BDET BDET 131
- CASC CASC 132
- 4Ć52 FST Configuration 134
- CNTRL CNTRL 135
- %CNTRL %CNTRL 136
- CONFIGURATION FORMAT: CTR ( 137
- DAGM DAGM 139
- DASVT DASVT 141
- CONFIGURATION FORMAT: DI ( 142
- 4Ć62 FST Configuration 144
- OPERAND FORMAT: 145
- CONFIGURATION FORMAT: DO ( 146
- CONFIGURATION FORMAT: DT ( 148
- 4Ć68 FST Configuration 150
- CONFIGURATION FORMAT: DTC ( 151
- CONFIGURATION EXAMPLE: 151
- END END 152
- 4Ć71FST Configuration 153
- FDFW FDFW 155
- FDFWM FDFWM 158
- FDFWS FDFWS 160
- 4Ć80 FST Configuration 162
- 4Ć81FST Configuration 163
- 4Ć82 FST Configuration 164
- 4Ć83FST Configuration 165
- 4Ć84 FST Configuration 166
- CONFIGURATION FORMAT: GCI ( 167
- GOTO GOTO 169
- 4Ć89FST Configuration 171
- 4Ć91FST Configuration 173
- 4Ć92 FST Configuration 174
- ICPLDA ICPLDA 175
- ICPLDD ICPLDD 177
- ICPSTA ICPSTA 178
- ICPSTD ICPSTD 180
- CONFIGURATION FORMAT: IFF ( 181
- CONFIGURATION FORMAT: IFT ( 182
- IFTAUT IFTAUT 183
- IFTDDC IFTDDC 184
- IFTMAN IFTMAN 185
- IFTOSP IFTOSP 186
- IFTOSS IFTOSS 187
- IFTRSP IFTRSP 188
- IFTSUP IFTSUP 189
- CONFIGURATION FORMAT: INT ( 190
- Dt) X SVA(in)] 191
- Dt = Sample time in minutes 191
- 4Ć110 FST Configuration 192
- LABEL LABEL 193
- LIMIT LIMIT 194
- NO SYMBOLIC 196
- REPRESENTATION 196
- CONFIGURATION FORMAT: LL ( 196
- CONFIGURATION FORMAT: LN ( 198
- 4Ć117FST Configuration 199
- LOOP LOOP 200
- 4Ć119FST Configuration 201
- 4Ć120 FST Configuration 202
- MASFLW MASFLW 203
- MIDSEL MIDSEL 206
- 4Ć126 FST Configuration 208
- NOP NOP 209
- CONFIGURATION FORMAT: NOT ( 210
- 4Ć129FST Configuration 211
- OVRD OVRD 212
- PDET PDET 214
- 4Ć133FST Configuration 215
- CONFIGURATION FORMAT: PFR 216
- POLY POLY 217
- PVLD PVLD 219
- 4Ć138 FST Configuration 220
- RGLD RGLD 221
- RGLDA RGLDA 222
- RGLDD RGLDD 223
- RGST RGST 224
- RSPST RSPST 225
- %RSPST %RSPST 226
- RTOLD RTOLD 227
- RTOST RTOST 228
- SGSL SGSL 229
- SPLD SPLD 230
- SQRT SQRT 231
- SSLD SSLD 232
- STAT STAT 233
- 4Ć152 FST Configuration 234
- 4Ć153FST Configuration 235
- TIFAUT TIFAUT 236
- TIFDDC TIFDDC 237
- TIFMAN TIFMAN 238
- TIFRSP TIFRSP 239
- TIFSUP TIFSUP 240
- H The reset value goes to 1 241
- CONFIGURATION FORMAT: TM ( 242
- Dt, HA limited to >= 0 242
- Dt = sample time in minutes 242
- CONFIGURATION FORMAT: TRK ( 243
- VLIM VLIM 244
- VOLD VOLD 246
- 4Ć165FST Configuration 247
- 4Ć166 ICP Configuration 248
- 4Ć167ICP Configuration 249
- 4Ć168 ICP Configuration 250
- 4Ć169ICP Configuration 251
- 4.7 Target Data Configuration 252
- Target Data Configuration 253
- H PV - Process Variable 260
- H RA - Ratio Value 260
- H SP - Set Point 260
- H %BI- Percent Bias Value 260
- 5 Configuration Tips 263
- 5.2 Ratio Control 264
- H Loadable Functions 265
- H Scratch Registers 265
- 5.3.1 Loadable Functions 266
- 5Ć5Configuration Tips 267
- AOUT(1) 267
- Configuration Tips 268
- 5.3.2 Scratch Registers 269
- 5.3.3 Split Registers 269
- 5.6 Loop Mode FST Functions 271
- Control Applications 272
- 5Ć11Configuration Tips 273
- 5Ć13Configuration Tips 275
- 5Ć14 Configuration Tips 276
- A.1 Loading Calculations 277
- A.2 Sizing Calculations 280
- Glossary 287
- Reader's Evaluation 317
- 1712 CENTRE CREEK DR 318
- AUSTIN TX 78754-9971 318
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