Toshiba ASD 9 Series, Руководство пользователя, Страница: 14 / 24

6 PID Control Manual
Set the Limit Parameters
Set the high-low limit parameters. Some parameters are mode specific, as indicated in the following
table.
Table 1. Limit parameters applicability.
Set the PID Gain Parameters
Set and adjust the F362 – Proportional (P), F363 – Integral (I), and F366 – Differential (D) gain
parameters as necessary to optimize the system response. See page 14.
Simple Position PID Control
Simple Position PID control is used to keep a stopped load motionless. Simple Position PID control
would be used to keep a stopped elevator from shifting position as the elevator load changed.
Simple Position PID control mode requires the ASD be in PG Vector Feedback mode (F015 = 7 or 8)
and parameters F240, F241, and F243 set to 0.0 Hz.
Simple Position PID control is performed when a position control signal is received. The discrete input
terminal assignment for Simple Position PID control is 72. The motor position at the time the command
is received is recorded and used as the position reference point.
The parameters required for Simple Position PID Control setup are listed in the following table.
Table 2. Required Simple Position PID Control parameters.
Limit Parameters Process PID Speed PID
F364 , F365 – PID Deviation Upper and Lower Limit YES YES
F368 , F367 – Process Upper and Lower Limit YES YES
F370 , F371 – PID Output Upper and Lower Limit YES YES
F012 , F013 – Upper and Lower Limit Frequency YES YES
F011 – Maximum Frequency YES YES
F009 , F010 – Acceleration and Deceleration Time YES NO
F372 , F373 – Process Increasing and Decreasing Rate NO YES
F361 – Delay Filter NO YES
Parameters Function Setting
F015 V/f Control Mode Selection
7: PG Vector Feedback Control
or
8: PG Vector Feedback Control
F240 Start Frequency 0.00
F241 Operating Frequency 0.00
F243 End Frequency 0.00
F359 PID Control Switching 3: Position PID Control
F360 PID Control Feedback Selection 6: PG Feedback Option
F362 Proportional Gain 0.01 – 100.00
F363 Integral Gain 0.01 – 100.00
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