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Could someone explain how the system calculates the PID integral term? ? ?

2011-07-13View Original

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When studying PID systems, all I got was the formula M(t) = K(E + 1/Ti * ∫E dt + Td * dE/dt). I’m not clear about how the integral term is calculated; for example, I wonder how a PLC computes this value. As far as I understand, the system does not allocate any dedicated memory to accumulate the value of E across consecutive sampling times. Is the integral term in a PID program simply E divided by Ti, the sampling time interval?

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