![]() ![]() If you don't have access to PIDE, don't worry too much about it. All that you really need to know is that the PIDE instruction has a lot more options and generally runs smoother. It is the typical form that is used in DCS systems. ![]() This method is also very amenable to loop cascading and has some other advantages. The PID calculation produces a delta from the previous calculation which is added to calculate the new output. This effectively converts the integral calculation to a direct one and eliminates "windup" and some "bumping" problems that affect the PID terms. ![]() Effectively this means that instead of implementing the PID equation more or less directly, take the derivative. It's not a PIV loop (which requires a separate velocity and position input, useful for position control loops). ![]()
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