CD Construct PID Model VI

CD Construct PID Model (Academic)

	Proportional Gain (Kc) represents the proportional gain of the controller. In the equation that defines the PID Academic form, Kc represents the proportional gain. The default is 1.
	Integral Time [s] (Ti) is the controller parameter that adjusts the effect of the error integral term E(s)/s on the controller output U(s). In the equation that defines the PID Academic form, Ti represents the integral time. The default is 0.
	Derivative Time [s] (Td) is the controller parameter that adjusts the effect of the error derivative term sE(s) on the controller output U(s). In the equation that defines the PID Academic form, Td represents the derivative time. The default is 0. The default PID Academic controller does not use derivative time.
	error in describes error conditions that occur before this VI or function runs. The default is no error. If an error occurred before this VI or function runs, the VI or function passes the error in value to error out. This VI or function runs normally only if no error occurred before this VI or function runs. If an error occurs while this VI or function runs, it runs normally and sets its own error status in error out. Use the Simple Error Handler or General Error Handler VIs to display the description of the error code. Use exception control to treat what is normally an error as no error or to treat a warning as an error. Use error in and error out to check errors and to specify execution order by wiring error out from one node to error in of the next node. status is TRUE (X) if an error occurred before this VI or function ran or FALSE (checkmark) to indicate a warning or that no error occurred before this VI or function ran. The default is FALSE. code is the error or warning code. The default is 0. If status is TRUE, code is a nonzero error code. If status is FALSE, code is 0 or a warning code. source specifies the origin of the error or warning and is, in most cases, the name of the VI or function that produced the error or warning. The default is an empty string.
	High Frequency Time Constant [s] (Tf) is the low pass filter time constant Tf this VI uses to make the PID model a proper system. The default is 0.
	Transfer Function Model returns the transfer function this VI constructs based on the inputs. To access and modify the data in the model, use the Model Information VIs.
	error out contains error information. If error in indicates that an error occurred before this VI or function ran, error out contains the same error information. Otherwise, it describes the error status that this VI or function produces. Right-click the error out front panel indicator and select Explain Error from the shortcut menu for more information about the error. status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. code is the error or warning code. If status is TRUE, code is a nonzero error code. If status is FALSE, code is 0 or a warning code. source describes the origin of the error or warning and is, in most cases, the name of the VI or function that produced the error or warning.

CD Construct PID Model (Parallel, Continuous)

	Proportional Gain (Kp) represents the proportional gain of the controller. In the equation that defines the PID Parallel form, KP represents the proportional gain. The default is 1.
	Integral Gain (Ki) is the controller parameter that adjusts the effect of the error integral term E(s)/s on the controller output U(s). In the equation that defines the PID Parallel form, Ki represents the integral gain. The default is 0.
	Derivative Gain (Kd) is the controller parameter that adjusts the effect of the error derivative term sE(s) on the controller output U(s). In the equation that defines the PID Parallel form, Kd represents the derivative gain. The default is 0.
	error in describes error conditions that occur before this VI or function runs. The default is no error. If an error occurred before this VI or function runs, the VI or function passes the error in value to error out. This VI or function runs normally only if no error occurred before this VI or function runs. If an error occurs while this VI or function runs, it runs normally and sets its own error status in error out. Use the Simple Error Handler or General Error Handler VIs to display the description of the error code. Use exception control to treat what is normally an error as no error or to treat a warning as an error. Use error in and error out to check errors and to specify execution order by wiring error out from one node to error in of the next node. status is TRUE (X) if an error occurred before this VI or function ran or FALSE (checkmark) to indicate a warning or that no error occurred before this VI or function ran. The default is FALSE. code is the error or warning code. The default is 0. If status is TRUE, code is a nonzero error code. If status is FALSE, code is 0 or a warning code. source specifies the origin of the error or warning and is, in most cases, the name of the VI or function that produced the error or warning. The default is an empty string.
	High Frequency Time Constant [s] (Tf) is the low pass filter time constant Tf this VI uses to make the PID model a proper system. The default is 0.
	Transfer Function Model returns the transfer function this VI constructs based on the inputs. To access and modify the data in the model, use the Model Information VIs.
	error out contains error information. If error in indicates that an error occurred before this VI or function ran, error out contains the same error information. Otherwise, it describes the error status that this VI or function produces. Right-click the error out front panel indicator and select Explain Error from the shortcut menu for more information about the error. status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. code is the error or warning code. If status is TRUE, code is a nonzero error code. If status is FALSE, code is 0 or a warning code. source describes the origin of the error or warning and is, in most cases, the name of the VI or function that produced the error or warning.

CD Construct PID Model (Parallel, Discrete)

Note  This instance uses bilinear-transformation integration to construct the PID model.

	Sampling Time specifies the sampling time of the discrete PID model. The default is 1.
	Proportional Gain (Kp) represents the proportional gain of the controller. In the equation that defines the PID Parallel form, KP represents the proportional gain. The default is 1.
	Integral Gain (Ki) is the controller parameter that adjusts the effect of the error integral term E(s)/s on the controller output U(s). In the equation that defines the PID Parallel form, Ki represents the integral gain. The default is 0.
	Derivative Gain (Kd) is the controller parameter that adjusts the effect of the error derivative term sE(s) on the controller output U(s). In the equation that defines the PID Parallel form, Kd represents the derivative gain. The default is 0.
	error in describes error conditions that occur before this VI or function runs. The default is no error. If an error occurred before this VI or function runs, the VI or function passes the error in value to error out. If an error occurs while this VI or function runs, it runs normally and sets its own error status in error out. Use the Simple Error Handler or General Error Handler VIs to display the description of the error code. Use exception control to treat what is normally an error as no error or to treat a warning as an error. Use error in and error out to check errors and to specify execution order by wiring error out from one node to error in of the next node. status is TRUE (X) if an error occurred before this VI or function ran or FALSE (checkmark) to indicate a warning or that no error occurred before this VI or function ran. The default is FALSE. code is the error or warning code. The default is 0. If status is TRUE, code is an error code. If status is FALSE, code is 0 or a warning code. source specifies the origin of the error or warning and is, in most cases, the name of the VI or function that produced the error or warning. The default is an empty string.
	Transfer Function Model returns the transfer function this VI constructs based on the inputs. To access and modify the data in the model, use the Model Information VIs.
	error out contains error information. If error in indicates that an error occurred before this VI or function ran, error out contains the same error information. Otherwise, it describes the error status that this VI or function produces. Right-click the error out front panel indicator and select Explain Error from the shortcut menu for more information about the error. status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. code is the error or warning code. If status is TRUE, code is a nonzero error code. If status is FALSE, code is 0 or a warning code. source describes the origin of the error or warning and is, in most cases, the name of the VI or function that produced the error or warning.

CD Construct PID Model (Series)

	Proportional Gain (KC) represents the proportional gain of the controller. In the equation that defines the PID Series form, KC represents the proportional gain. The default is 1.
	Integral Time [s] (TI) is the controller parameter that adjusts the effect of the error integral term E(s)/s on the controller output U(s). In the equation that defines the PID Series form, TI represents the integral time. The default is 0.
	Derivative Time [s] (TD) is the controller parameter that adjusts the effect of the error derivative term sE(s) on the controller output U(s). In the equation that defines the PID Series form, TD represents the derivative time. The default is 0. The default PID Series controller does not use derivative time.
	error in describes error conditions that occur before this VI or function runs. The default is no error. If an error occurred before this VI or function runs, the VI or function passes the error in value to error out. This VI or function runs normally only if no error occurred before this VI or function runs. If an error occurs while this VI or function runs, it runs normally and sets its own error status in error out. Use the Simple Error Handler or General Error Handler VIs to display the description of the error code. Use exception control to treat what is normally an error as no error or to treat a warning as an error. Use error in and error out to check errors and to specify execution order by wiring error out from one node to error in of the next node. status is TRUE (X) if an error occurred before this VI or function ran or FALSE (checkmark) to indicate a warning or that no error occurred before this VI or function ran. The default is FALSE. code is the error or warning code. The default is 0. If status is TRUE, code is a nonzero error code. If status is FALSE, code is 0 or a warning code. source specifies the origin of the error or warning and is, in most cases, the name of the VI or function that produced the error or warning. The default is an empty string.
	High Frequency Time Constant [s] (Tf) is the low pass filter time constant Tf this VI uses to make the PID model a proper system. The default is 0.
	Transfer Function Model returns the transfer function this VI constructs based on the inputs. To access and modify the data in the model, use the Model Information VIs.
	error out contains error information. If error in indicates that an error occurred before this VI or function ran, error out contains the same error information. Otherwise, it describes the error status that this VI or function produces. Right-click the error out front panel indicator and select Explain Error from the shortcut menu for more information about the error. status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. code is the error or warning code. If status is TRUE, code is a nonzero error code. If status is FALSE, code is 0 or a warning code. source describes the origin of the error or warning and is, in most cases, the name of the VI or function that produced the error or warning.

CD Construct PID Model Details

This VI constructs transfer function models in the following forms:

PID Academic

PID Parallel

PID Parallel Discrete

Refer to the book Digital Control Systems for more information about bilinear-transformation integration.

PID Series