# PID controller

The PID ( PID - Proportional-integral-derivative ) controller enables you to run with a constant rotational speed (constant RPM). Based on the difference bewteen the actual RPM and the targeted RPM, the PID controller will compute a torque, that will be applied by the generator to try to reach the targeted RPM.

The PID controller generator has the following parameters:

## Tuning

### Setpoint (generator rpm)

The generator rpm setpoint that the PID wants to maintain. Note: If the wind turbine has a gear box the corresponding setpoint for the rotor is different by a factor of the gearbox ratio. If your startoint is a rotor rpm then you find the setpoint for the generator by multiplying with the gearbox ratio.

• Default value: 970
• Unit: $\text{rpm}$
• Range: -100000 — 100000

### Proportional gain

The proportional gain factor used by the PID controller to compute the torque.

• Default value: 150
• Unit: ${\text{N}\cdot\text{m}} \over {\text{rpm}}$
• Range: 0 — 1e+08

### Integral gain

The integral gain factor used by the PID controller to compute the torque.

• Default value: 50
• Unit: ${\text{N}\cdot\text{m}} \over {\text{rpm}\cdot\text{s}}$
• Range: 0 — 1e+08

### Derivative gain

The derivative gain factor used by the PID controller to compute the torque.

• Default value: 0
• Unit: ${\text{N}\cdot\text{m}\cdot\text{s}} \over {\text{rpm}}$
• Range: 0 — 1e+08