Goodrive200A
inverters Basic operation instruction
102
When P00.06, P00. 07=7 or P04.27=6, the running mode of the inverter is procedure PID
control.
7.15.1 General steps of PID parameters setting:
a
Ensure the gain P
When ensure the gain P, firstly cancel the PID integration and derivation (set Ti=0 and Td=0,
see the PID parameter setting for detailed information) to make proportional adjustment is
the only method to PID. Set the input as 60%~70% of the permitted Max. Value and
increase gain P from 0 until the system vibration occurs, vice versa, and record the PID
value and set it to 60%~70% of the current value. Then the gain P commission is finished.
b Ensure the integration time
After ensuring the gain P, set an original value of a bigger integration time and decrease it
until the system vibration occurs, vice versa, until the system vibration disappear. Record the
Ti and set the integration time to 150%~180% of the current value. Then integration time
commission is finished.
c Ensure the derivation time
Generally, it is not necessary to set Td which is 0.
If it needs to be set, set it to 30% of the value without vibration via the same method with P
and Ti.
d
Commission the system with and without load and then adjust the PID parameter until it is
available.
7.15.2 PID inching
After setting the PID control parameters, inching is possible by following means:
Control the overshoot
Shorten the derivation time and prolong the integration time when overshoot occurs.
Achieve the stable state as soon as possible
Shorten the integration time (Ti) and prolong the derivation time (Td) even the overshoot
occurs, but the control should be stable as soon as possible.
Control long vibration
If the vibration periods are longer than the set value of integration time (Ti), it is necessary to
prolong the integration time (Ti) to control the vibration for the strong integration.
