Position controller

The setpoint generator is based on a 7-phase profile for defining a trajectory that takes into account acceleration, velocity, and deceleration setpoints. Control is achieved using a conventional PID controller, with the integral component (I) adjusted in specific ways to prevent integral overshoot, oscillation, and drift.

To improve dynamic performance, a Velocity feedforward control is implemented, which reduces the load on the controller and shortens the response time to setpoint changes. This is followed by downstream controller limiting and the integration of the valve characteristics as nonlinear control value compensation. This also integrates the characteristic flow parameters of the valve being used into the control system, ensuring a linearized control response and higher accuracy across the entire operating range.

The following block diagram shows a graphical representation of the position controller:

• For explanations of the control parameters, see Init Parameter.
• For explanations of the online parameters, see Online Parameter