Mitsubishi Electric MELSEC iQ-R Series, Programming Manual

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10 PID CONTROL INSTRUCTIONS
10.3 PID Control Instructions (Exact Differential)
10.3
PID Control Instructions (Exact Differential)
Exact differential is PID control that uses the input of a differential term as it is.
The following table summarizes the performance specifications of PID control instructions for exact differential.
The following are the block diagram and operational expressions of PID operation.
• Block diagram of PID operation (exact differential)
Item When the PID limit is restricted When the PID limit is not restricted
Number of PID control loops

32 maximum
Sampling period T
S
0.01 to 60.00s
PID operation method  Process value differentiation type (exact differential) (direct action/reverse action)
PID constants setting
range Proportional constant K
P
0.01 to 100.00
Integral constant T
I
0.1 to 3000.0s
Derivative constant T
D
0.00 to 300.00s
Set value setting range SV 0 to 2000 -32768 to 32767
Process value setting range PV -50 to 2050 -32768 to 32767
Manipulated value output range MV
K
P
: Gain
W: Disturbance
P: Controlled system
V: Detected noise
PV
t
T
D
∙s
t
Input
Exact differential
Derivative
term
Larger
SV
(P) (I)
(D)
T
D
∙s
-
W
-
Kp
MV + +
+
P
PV
V
1+
T
I
∙s
1
+
+ +