02/14-W10-Bb
Instruction Sheet 734 064
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1 Description
The PID-Digital Controller consists of:
P-controller, I-element and D-element
Inverting input (7) and two non-inverting inputs (6) and
(8), leading to the difference amplifier at the input of
the controller. The control deviation e can be meas-
ured at (9).
Control deviation indicator in front of the controller
block (4)
Output summing point with non- inverting input (19)
and inverting input (18).
The P-controller is operated from panel (16). With the push-
button the p-component can be activated / deactivated. The
gain Kp of the controller is set with an incremental rotary en-
coder and is shown on a 7-segment display. The I-element is
operated from panel (14). With the push-button the I-
component can be activated / deactivated. The correction time
Ti [s] of the controller is set with a rotary encoder and is shown
on a 7-segment display. The D-element is operated from panel
(15). With the push-button the D-component can be activated /
deactivated. The rate time Td [s] of the controller is set with a
rotary encoder and is shown on a 7-segment display. The ref-
erence value or variable is fed into the non–inverting inputs (6)
or (8), the actual value is fed into the inverting Input (7). The
control deviation indicator (4) is activated, if the actual value
exceeds or falls below the reference value. The inverting input
(18) and the non-inverting input (19) of the summing point at
the output of the controller allow basic loads to be fed in.
PID-Digital Controller (734 064)
1/21 Supply voltage +15 V
2/20 Bus line (+5 V), no internal connection
3 Overload control
4 Control deviation indicator
RESET-input
6/8 Non-inverting input
Inverting input
9 Output for the difference signal (error, e)
Ground
11/12 Supply voltage -15 V
Operation- and display panel for integral element
15 Operation- and display panel for differential element
16 Operation- and display panel for proportional element
17 Output of the PID-controller
18 Inverting input of the output summing point
19 Non-inverting input of the output summing point
In this case the controller must only compensate for the manip-
ulated signal of any deviation from this basic load. A voltage of
+10 V at the input (5) RESET brings the integrator to zero and
gives repeatable start conditions. The red LED OVER indicates
saturation inside the controller.
2 Safety Instructions
The device corresponds to the safety stipulations for devic-
es of electrical measurement, control and for general labor-
atory equipment according to DIN EN 61010 part 1. It is
exclusively dedicated for use in a dry environment which is
suitable for the operation of electrical instrumentation.
When the device is operated properly, both the safety of the
operator as well as the working-life of the device are guar-
anteed. However safety cannot be guaranteed if the device
is operated in an uneducated manner or careless. In case
of any suspicious reaction of the device or with visible dam-
age the device must be deactivated immediately.
Intended Operation
Operate the device with the intended power supplies,
e.g. 726 86 Stabilized Power Supply +/-15 V / 3 A.
Operate the device in experiment set-ups as shown in
this instruction sheet or in experiments as described in
the manuals.
Instruction Sheet 734 064 Page 2/3

3 Scope of Delivery
1 Training panel

12.00

y ->
4 Technical Data 10.65
STEP GEN
PID-Simulation
PID-Real
Supply voltage: 15 V
9.30
Sampling rate: 20 kHz
7.95
Input voltage: 10 V
6.60
Input resistance: 10 kΩ
Output current: 10 mA 5.25

Gain Kp: 0.01 ...100 3.90

Correction time 2.55

(integral time) Ti: 10 ms ... 1000 s 1.20

Rate time
-0.15
(derivative time) Td: 1 ms ... 100 s
-1.50
Dimensions: 297 mm 200 mm 0 2 4 6 8 10 12 14 16 18 20
t ->
80 mm
Mass: 0.5 kg. STEP-GEN: Step function at the input of the controller
PID-Simulation. BORIS, individual blocks
The integrator operates with an anti-windup limiter. The differ- PID-Real: Step response 734 064
entiator uses an adaptive smoothing algorithm for the reduction
of the quantization noise and has an internal slope limiter.
Controller parameter:

5 Structure KP = 4, Ti = 5 s, Td = 0.5 s, Td1 = 0.1 s, anti-windup, +/- 10 V

The PID Digital Controller 734 064 is realized in a so called
technical structure. Thus, after amplification (gain Kp) the error
signal is guided to the summing point at the output and to the
inputs of the integrator and differentiator. The transfer function
is given by:
The step responses of the PID Digital controller (734 064) and
the simulation (here with WinFACT, BORIS) show the good
agreement between theory and measurement.

1 Td s
GPID (s ) Kp 1
Ti s Td 1s 1

LD DIDACTIC GMBH Leyboldstr. 1 D-50354 Hürth Phone (02233) 604-0 Fax (02233) 604-222 e-mail: info@ld-didactic.de

by LD Didactic Printed in the Federal Republic of Germany

Technical alterations reserved
Page 3/3 Instruction Sheet 734 064

6 Setting into Operation

Additionally required:

1 PC, from 1 GHz, Windows XP or higher

1 Profi-CASSY
1 CASSY Lab2 software

Install and start CASSY Lab2 on your PC. The PID-Digital Con-
troller is part of the equipment set E 4.2.1 Control of Technical
Systems and E 4.2.3 Control of Electronic Systems. The opera- Reference control with PID-controller.
tion of the PID digital controller requires additional components Red: Reference step
from these equipment sets. Profi-CASSY is used for the excita-
tion of the controlled system (e.g. step function) and for the Black: Controlled variable
measurement of the output-signals. With CASSY Lab2 the
measurement quantities are evaluated and graphically pre-
sented.

7 Operation

Set up the experiment as shown and switch the power

supply on. The example shows the control of a digital
controlled system (system of 1st order, 734 091). Set-
ups with other controlled systems are explained in the
training manuals.
Load the CASSY-Lab example from the manual, the
CASSY help or make your own settings.
With the rotary encoders set the parameters of the
PID-controller to the desired values.
Each turn of one of the rotary encoders is answered
by a token point in the right element of the 7-segment
display. After this token has passed the actual settings
are stored inside the memory. The settings are non-
volatile and still active after turn on.
Start the measurement by pressing F9.
LD DIDACTIC GMBH Leyboldstr. 1 D-50354 Hürth Phone (02233) 604-0 Fax (02233) 604-222 e-mail: info@ld-didactic.de

by LD Didactic Printed in the Federal Republic of Germany

Technical alterations reserved