B&R ACOPOSinverter P84, Руководство пользователя

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Programming guidelines
238 ACOPOSinverter P84 User's Manual 2.10
2.8.11.17.3 Setting up the PID regulator
1. Configuring the PID mode
Chart see "Overview" on page 235 .
2. Start a test in the factory setting (this measure is sufficient in most cases).
For optimization of the inverter, align (rPG) or (rIG) step-by-step and independently of each other and monitor
the effect on the PID feedback in relation to the reference.
3. If the factory settings are unstable or the reference is not met
° Test the frequency range of the system under load with a reference value under manual operation
(without PID controls):
– Speed must remain stable in steady state, and correspond to the reference; the PID feed-
back value must remain stable.
– In temporary operation, the speed must follow the ramp and stabilize quickly; the PID feed-
back value must track with the speed.
Perform other tests to check inverter settings and/or sensor signals and wiring.
°
Switch to PID mode and set
° Set brA to nO (no self-alignment of the ramp).
° Set the PID ramp (PrP) to the permissible minimum value for the machine, without triggering the
fault ObF .
°
Set the integral gain (rIG) to minimum.
° Leave the differential gain (rdG) at 0.
°
Observe the PID feedback and the reference.
° Switch the frequency inverter ON/OFF a number of times or vary the load or reference rapidly a
number of times.
° Set the P-component (rPG) so that the best compromise between response time and stability during
the temporary phases is found (slight overshoot and 1 to 2 vibrations prior to stability).
°
If the reference value is not complied with in the steady-state condition, increase the I-integral (rIG)
progressively and reduce the P-component (rPG) on instability. Achieve a compromise between
response time and precision (see diagram).
° Finally, with the D component, overshoot can be reduced and response time improved, with a
stability compromise as compensation that is not easy to achieve because it depends on three
gain factors.
° Follow these production-related tests for the complete reference range.