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  1. <%
  2. kUC = (__request__.args).get('kU')
  3. tUC = (__request__.args).get('tU')
  4.  
  5. kPSPI = 0.45*kUC
  6. kPSPD = 0.8*kUC
  7. kPCPID = 0.6*kUC
  8. kPPIR = 0.7*kUC
  9. kPSO = 0.33*kUC
  10. kPNO = 0.2*kUC
  11. %>
  12. <!DOCTYPE html>
  13. <html>
  14.   <head>
  15.     <title>PID Z-N Autotuner</title>
  16.   </head>
  17.   <body>
  18.     <table>
  19.       <tbody>
  20.       <tr>
  21.         <td align="center" colspan="5">Ziegler–Nichols method</td>
  22.       </tr>
  23.       <tr>
  24.         <td align="center"><b>Control Type</b></td>
  25.         <td align="center"><p>kP</p></td>
  26.         <td align="center"><p>kI</p></td>
  27.         <td align="center"><p>kD</p></td>
  28.       </tr>
  29.       <tr>
  30.         <td align="center"><i>P</i></td>
  31.         <td align="center"><p>{{0.5*kUC}}</p></td>
  32.         <td align="center">-</td>
  33.         <td align="center">-</td>
  34.       </tr>
  35.       <tr>
  36.         <td align="center"><i>PI</i></td>
  37.         <td align="center"><p>{{kPSPI}}</p></td>
  38.         <td align="center"><p>{{1.2*kPSPI/tUC}}</p></td>
  39.         <td align="center">-</td>
  40.       </tr>
  41.       <tr>
  42.         <td align="center"><i>PD</i></td>
  43.         <td align="center"><p>{{kPSPD}}</p></td>
  44.         <td align="center">-</td>
  45.         <td align="center"><p>{{kPSPD*tUC/8}}</p></td>
  46.       </tr>
  47.       <tr>
  48.         <td align="center"><i>classic PID</i></td>
  49.         <td align="center"><p>{{kPCPID}}</p></td>
  50.         <td align="center"><p>{{2*kPCPID/kTU}}</p></td>
  51.         <td align="center"><p>{{kPCPID*tUC/8}}</p></td>
  52.       </tr>
  53.       <tr>
  54.         <td align="center"><i>Pessen Integral Rule</i></td>
  55.         <td align="center"><p>{{kPPIR}}</p></td>
  56.         <td align="center"><p>{{2.5*kPPIR/kTU}}</p></td>
  57.         <td align="center"><p>{{3*kPPIR*kTU/20}}</p></td>
  58.       </tr>
  59.       <tr>
  60.         <td align="center"><i>some overshoot</i></td>
  61.         <td align="center"><p>{{kPSO}}</p></td>
  62.         <td align="center"><p>{{2*kPSO/tUC}}</p></td>
  63.         <td align="center"><p>{{kPSO*tUC/3}}</p></td>
  64.       </tr>
  65.       <tr>
  66.         <td align="center"><i>no overshoot</i></td>
  67.         <td align="center"><p>{{kPNO}}</p></td>
  68.         <td align="center"><p>{{2*kPNO/tUC}}</p></td>
  69.         <td align="center"><p>{{kPNO*tUC/3}}</p></td>
  70.       </tr>
  71.       </tbody>
  72.     </table>
  73.   </body>
  74. </html>
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