Chapter 6 - Parameter Description [FU2]
111
Set the integral gain for PID control. This is the time the
PID controller takes to output 100% for 100% error value.
Set the differential gain for PID control.
This is the frequency upper limit at which the output
frequency is limited during PID control.
This is the frequency lower limit at which the output
frequency is limited during PID control.
FU2-57: PID Output Inversion
FU2-58: PID Output Scale
FU2-59: PID P2 Gain
FU2-60: P Gain Scale
This code is used to invert PID controller output.
This code sets the scale of PID controller output.
This code sets the second P-Gain for PID control.
This code sets the scale of P-Gain and P2-Gain. (FU2-
52, FU2-59)
l
PID output value can be set to ‘0’ by setting a multi-
function input terminal (P1 ~ P6) to ‘Open loop’ in
I/O-12 ~ I/O-14 or EXT -02 ~ EXT -04.
l
The accumulated value by I-Gain can be set to ‘0’
by setting a multi-function input terminal (P1 ~ P6) to
‘iTerm Clear’ in I/O-12 ~ I/O-14 or EXT -02 ~ EXT -04.
l
The second P-Gain can be selected for PID
controller by setting a multi-function input (I/O-12 ~
I/O14 or EXT -02 ~ EXT -04) to ‘Open-loop’.
[P Control]
This is to compensate the error of a system
proportionally. This is used to make the controller
response fast for an error. When P control is used alone,
the system is easily affected by an external disturbance
during steady state.
[I Control]
This is to compensate the error of a system
integrally. This is used to compensate the steady state
error by accumulating them. Using this control alone
makes the system unstable.
[PI control]
This control is stable in many systems. If “D
control” is added, it becomes the 3
rd
order system. In
some systems this may lead to system instability.
[D Control]
Since the D control uses the variation ratio
of error, it has the merit of controlling the error before the
error is too large. The D control requires a large control
quantity at start, but has the tendency of increasing the
stability of the system. This control does not affect the
steady state error directly, but increases the system gain
because it has an attenuation effect on the system. As a
result, the differential control component has an effect on
decreasing the steady state error. Since the D control
operates on the error signal, it cannot be used alone.
Always use it with the P control or PI control.
FU2? PID D-time
54 0.0 ms
0.0
54
Factory Default:
0.0 ms
0.0
FU2? PID limit-H
55 60.00 Hz
60.00
55
Factory Default:
60.00 Hz
60.00
Related Functions:
DRV-04 [Frequency Mode]
FU2-40 [Control Method]
I/O-01 ~ I/O-10 [Analog Signal Scaling]
EXT-15 ~ EXT-21 [Pulse Input Signals]
FU2? PID limit-L
56 0.00 Hz
0.00
56
Factory Default:
0.00 Hz
0.00
FU2? PID Out Inv.
57 --- No ---
0
57
Factory Default:
No
0
FU2?PID Out Scale
58 100.0 %
100.0
58
Factory Default:
100.0 %
100.0
FU2? PID P2-gain
59 100.0 %
100.0
59
Factory Default:
100.0 %
100.0
FU2?P-gain Scale
60 100.0 %
100.0
60
Factory Default:
100.0 %
100.0
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