Block: I



PIC




Inports


In

Control error input



I0

Integral value which is loaded at initialization function call



Enable

Enable == 0: Deactivation of block; Out set to 0

Enable 0->1: Preload of integral part

Enable == 1: Activation of block






Outports


Out

Control value







Mask Parameters



Name

ID

Description




Ki

1

Integral Factor




ts_fact

2

Multiplication factor of base sampling time (in integer format)





Description:

I controller:

G(s) = Ki/s = 1/(Ti*s)

Each fixed point implementation uses the next higher integer datatype for the integrational value storage variable.

A rising flank at the Enable inport will preload the integrational part with the value present on the Init inport.

Transfer function (zero-order hold discretization method):

              1
G (z) = KiTs------
            z - 1

Developer note: The source code of block ILimit is used.

Implementations:
FiP16 16 Bit Fixed Point Implementation
FiP32 32 Bit Fixed Point Implementation
Float32 32 Bit Floating Point Implementation
Float64 64 Bit Floating Point Implementation

Implementation: FiP16


16 Bit Fixed Point Implementation



Inports Data Type


In

int16



I0

int16



Enable

bool






Outports Data Type


Out

int16




Implementation: FiP32


32 Bit Fixed Point Implementation



Inports Data Type


In

int32



I0

int32



Enable

bool






Outports Data Type


Out

int32




Implementation: Float32


32 Bit Floating Point Implementation



Inports Data Type


In

float32



I0

float32



Enable

bool






Outports Data Type


Out

float32




Implementation: Float64


64 Bit Floating Point Implementation



Inports Data Type


In

float64



I0

float32



Enable

bool






Outports Data Type


Out

float64