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Manual
D PD controller, step-forced response
In the case of the PD controller, the decaying D component is superimposed on the P com-
ponent. The D component depends on the derivative action gain Vv and the derivative action
time Tv.
y
Tv
Vv
y
O
Figure 1-4
Step-forced response of PD controller
D PI controller, step-forced response
In contrast to the P controller, a steady-state deviation is prevented in the PI controller by
the integral component.
A characteristic of the integral component is the integral action time Tn.
y
Tn
Figure 1-5
Step-forced response of PI controller
D PID controller, step-forced response
The PID controller results in improvement of the dynamic control quality as a result of the
additional application of a D component.
Refer to the PD and PI controllers.
y
Tv
Vv
Tn
Figure 1-6
Step-forced response of PID controller
SIPART DR21
C73000-B7476-C143-08
Kp · Vv · xd
Kp · xd
= 0
Kp · xd
Kp · xd
1 General Part -- Fundamental control technology terms
t
t
t
11
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