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в палитре |
на схеме |
The block implements a transfer function of a discrete PID controller:
where
KP,
KI,
KD – proportional, integral and differential term respectively;
T – sampling period.
Входные порты
- input – the port for the input signal of the block.
Выходные порты
- output – the output port of the block.
Свойства
- Sampling period – sampling period of T block calculation.
- Initial conditions – vector of initial values yi of the block output.
- Proportional term – KP.
- Integral term – KI.
- Differential term – KD.
Прим.:
- By default, the block implements scalar input signal processing.
- Coefficients ai, bj are introduced according to increasing powers z. For the proper operation of this unit, it is necessary to set the maximum integration step no more than 0.5·T. When integrating with a constant step, it is recommended to set the step such that the quantization period is a multiple of the integration step T = k·h, where k, h is an integer and the integration step.