Mitsubishi Q Mode, Руководство по программированию

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A - 5
INTRODUCTION
Thank you for choosing the Mitsubishi MELSEC-Q/QnA Series of Programmable Logic Controllers.
Please read this manual carefully so that the equipment is used to its optimum. A copy of this manual should
be forwarded to the end User.
CONTENTS
SAFETY CAUTIONS ......................................................................................................................................A- 1
REVISIONS .....................................................................................................................................................A- 3
CONTENTS.....................................................................................................................................................A- 5
About Manuals ................................................................................................................................................A- 8
Generic Terms and Abbreviations Used in This Manual ..............................................................................A-11
1. GENERAL DESCRIPTION 1 – 1 to 1 - 3
1.1 PID Processing Method ........................................................................................................................... 1 - 3
2. SYSTEM CONFIGURATION FOR PID CONTROL 2 - 1 to 2 - 2
2.1 Applicable PLC CPU................................................................................................................................ 2 - 2
3. PID CONTROL SPECIFICATIONS 3 - 1 to 3 - 14
3.1 PID Control by Incomplete derivative ...................................................................................................... 3 - 1
3.1.1 Performance specifications............................................................................................................... 3 - 1
3.1.2 PID operation block diagram and operation expressions ................................................................ 3 - 2
3.1.3 PID control instruction list.................................................................................................................. 3 - 3
3.2 PID Control by Complete Derivative........................................................................................................ 3 - 8
3.2.1 Performance specifications............................................................................................................... 3 - 8
3.2.2 PID operation block diagram and operation expressions ................................................................ 3 - 9
3.2.3 PID control instruction list................................................................................................................ 3 - 10
4. FUNCTIONS OF PID CONTROL 4 - 1 to 4 - 14
4.1 Outline of PID Control .............................................................................................................................. 4 - 1
4.2 Functions of PID Control.......................................................................................................................... 4 - 2
4.2.1 Operation method.............................................................................................................................. 4 - 2
4.2.2 Forward operation and reverse operation ........................................................................................ 4 - 2
4.2.3 Proportionate operation (P operation) .............................................................................................. 4 - 4
4.2.4 Integrating operation (I operation) .................................................................................................... 4 - 5
4.2.5 Differentiating operation (D operation) ............................................................................................. 4 - 6
4.2.6 PID operation..................................................................................................................................... 4 - 8
4.3 Other Functions........................................................................................................................................ 4 - 9
4.3.1 Bumpless changeover function ........................................................................................................ 4 - 9
4.3.2 MV higher/lower limit control function............................................................................................. 4 - 10
4.3.3 Monitorning PID control with the AD57(S1) (QnACPU only)......................................................... 4 - 11
4.3.4 Function for transfer to the SV storage device for the PV in manual mode.................................. 4 - 12
4.3.5 Changing the PID control data or input/output data setting range (QCPU only) ......................... 4 – 13