Procon V3D Series, Руководство программиста

Страница: 23 / 88

H - I - J
PROGRAMMER’S MANUAL
V8.94.11-
- 23 -
Explanation of the parameters
P:
f
P
=f
min
+
(
f
max
-f
min
)
∙
Error signal
[
%
]
100
∙A
P
I: Change of f during the time of T
I
:
∆f
I
=
(
f
max
-f
min
)
∙
Error signal [ % ]
100
D: In the moment of the error occurrence:
f
D
=
(
f
max
-f
min
)
∙
Error signal
[
%
]
100
∙A
D
which at remaining error converges to zero with the time constant of T
D
Explanations to the PID regulations
The use of the PID parameters of the frequency converter permits the sophisticated yet simple implementation of
controls of types lasting value and following.
In the regulation procedure, on the effect of the arisen error signal the P , I and D elements modify the output frequency
so that the error signal decreases.
Approach from the point of view of the regulation technique:
f=
(
A
P
+
1
ST
i
+A
D
∙
ST
d
1+ST
d
)
∙
Error signal
[
%
]
100
∙
(
f
max
-f
min
)
+f
min
Error signal = Regulation reference signal - Feedback signal
The effect of the parameters depends on the sign and magnitude of the error signal. Of course, each action is to be
understood algebraically, along with sign. The action (frequency increase or decrease) should always act to decrease
the absolute value of the error signal! This has to be decided at selecting the type of the regulation (normal or inverse)
(menu item
1-6-2 )
At regulating the rotation speed and the position, the correct adjustment of the IRE is very important! This applies to the
IRE parameters and the wiring, too. If the IRE measures not the rotation of the motor shaft but some decreased (or
increased) rotation, then in the IRE division the value per 1 revolution of the shaft is to be entered.
(e g. at 1:50 reducing gear and IRE division number 2000, the value of 40 is to be entered.)
At position regulation, the integration element (I) of the PID parameters is not utilized due to the nature of the job! This
means a special PD regulation!
At torque regulation, selecting normal mode means driving (motor) torque regulation while selecting inverse mode means
braking (generator) torque regulation!
The change of the frequency is also influenced by the frequency slope limitation through the regulation acceleration time
(menu item
2-1-2 ) and the regulation deceleration time (menu item 3-1-2 )! With operating system, these mean the
highest permissible slopes independently of the PID parameters.
The normal acceleration and deceleration times are ineffective in the regulation process but at stop the deceleration
occurs according to the control deceleration time (menu item
3-1-1 ) and the stop mode!
+
Type of regulation:
- PI:
- PD:
- P:
- I:
- PID: (Ad=0)
(Ti=N)
(Ad=0, Ti=N)
(Ad=0, Ap=0)
(otherwise)
max
reg.ref.s.
driving /
technology
f
out
P
I
D
sensor
feedback signal
f
D
f
I
f
P
+
+
max
f
min
f
f
+
min
reg.ref.s.
up
reg.ref.s.
down
reg.ref.s.
up
reg. T
down
reg. T
reference
signal
modification
signal
error
signal