Hi Guys,
Looking through the KUKA RSI objects, I can only see a PID, PD, P, I, D block. However what I need is a "PI" block.
(Versions : KSS 8.5.8, Ethernet KRL 3.0, RSI 4.0 )
I thought of a few options but It didn't seem right comparing the equations :
- I considered setting the D component ("TV") in the PID block to 0 so I have just the P&I component, however this wont make sense because setting the integral component "TN" in the PID block to 0 wont give the same equation in the predefined default RSI object PD block.
- Feeding the error individually into the P and I block, summing their outputs and using that as the control signal.
From the Manual :
PID object
y(k) = y(k-1) + B0 * x(k) + B1 * x(k-1) + B2 * x(k-2)
B0 = KR * (1 + TV / <sensor_cycle>)
B1 = - KR * (1 - <sensor_cycle> / TN + 2 * TV / <sensor_cycle>)
B2 = KR * TV / <sensor_cycle>
PD
Proportional differential object
y(k) = B0 * x(k) + B1 *x(k-1)
B0 = KR * (1 + (TV / <sensor_cycle>))
B1 = -KR * (TV / <sensor_cycle>)
Please let me know if you have any suggestions on how to get or use a PI controller in KUKA RSI or if any of my suggested options may work.
Thank you!