01/02 AWB8230-1415GB
PID controller
143
If, for example, you only require up to four different setpoint
values, only FF1 and FF2 need to be used; for five to eight different
setpoint values, only FF1 to FF3 are required.
Activating PID mode
X
Under PNU A071, enter the value 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. 136 to
Fig. 139, Page 136).
Use two different setpoint values and switch between them using
the digital control signal terminals.
The output should then always exhibit a stable behaviour.
Adjustment of the P component
Begin by setting only the P component, but not the I component
and the D component.
X
First, enter a very small proportional component under
PNU A072 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 beha-
viour 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, in PUN A073, enter a very small integral component.
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 configured the AVR function (PNU A081) to 02 so that
it is deactivated only during deceleration when PID control is
active, there is, depending on the application, a danger that the
motor will “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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