01/02 AWB8230-1413GB
PID control
125
If, for example, you need only up to four different setpoints, you
need to use only FF1 and FF2; for five to eight different setpoint
values, you need only FF1 to FF3.
Activating PID mode
X
Set PNU A071 to 01.
You can make this entry at the very start, before defining all other
settings.
Example for setting K
p
and T
i
As for the parameter changes, check the output frequency or the
feedback actual value signal with an oscilloscope (
a
fig. 118 to
fig. 121, page 118).
Use two different setpoint values and switch between them using
the digital control signal terminals.
The output should then always exhibit a stable behaviour.
Setting the P component
Begin by setting only the P component, but not the I component
and the D component.
X
First, under PNU A072, set as low a P component as possible
and check the result.
X
If necessary, slowly increase this value until an acceptable
output behaviour has been achieved.
Alternatively, set a very large P component and observe the
behaviour of the output signal. If the behaviour is unstable, set a
lower value and observe the result. Repeat this process.
If the behaviour is unstable, reduce the P component.
The P component is correct when the system deviation reaches a
static state within acceptable limits.
Setting the integral component and matching K
p
X
First, under PUN A073, set as low an I component as possible.
X
Set the P component a little lower.
If the system deviation does not decrease, reduce the integral
component a little. If the performance becomes unstable as a
result, reduce the P component.
X
Repeat this process until you have found the correct parameter
settings.
Note about the AVR function
If you have set the AVR function (PNU A081) to 02, whereby the
automatic voltage regulation function with an active PID closed
loop control is deactivated only during deceleration of the motor,
the motor may, depending on the application, start to “knock”. In
other words, instead of running smoothly, the motor accelerates
and decelerates alternately. In this case, set the AVR function to
01 (OFF).
No.
FF4
FF3
FF2
FF1
Setpoint number (PNU)
1
0
0
0
0
Setpoint value 0 (PNU A020 or
F001)
2
0
0
0
1
Setpoint value 1 (PNU A021)
3
0
0
1
0
Setpoint value 2 (PNU A022)
4
0
0
1
1
Setpoint value 3 (PNU A023)
5
0
1
0
0
Setpoint value 4 (PNU A024)
6
0
1
0
1
Setpoint value 5 (PNU A025)
7
0
1
1
0
Setpoint value 6 (PNU A026)
8
0
1
1
1
Setpoint value 7 (PNU A027)
9
1
0
0
0
Setpoint value 8 (PNU A028)
10
1
0
0
1
Setpoint value 9 (PNU A029)
11
1
0
1
0
Setpoint value 10 (PNU A030)
12
1
0
1
1
Setpoint value 11 (PNU A031)
13
1
1
0
0
Setpoint value 12 (PNU A032)
14
1
1
0
1
Setpoint value 13 (PNU A033)
15
1
1
1
0
Setpoint value 14 (PNU A034)
16
1
1
1
1
Setpoint value 15 (PNU A035)
1: On
0: Off
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