WEG CFW300 V1.3X, Руководство по программированию

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SoftPLC
18-6 | CFW300
18
Where:
y(k): present output of the PID controller; it may vary from 0.0 to 100.0 %.
i(k-1): integral value in the previous state of the PID controller.
Kp: Proportional gain = P931.
Ki: Integral gain = P932 = [1 / Ti (s)].
Kd: Differential gain = P933 = [Td (s)].
Ts: sampling period of the PID controller = P934.
e(k): present error, being [SP(k) – PV(k)] for direct action, and [PV(k)].– SP(k)] for reverse action.
e(k-1): previous error, being [SP(k-1) – PV(k-1)] for direct action, and [PV(k-1)].– SP(k-1)] for reverse action.
SP: present control setpoint of the PID controller.
PV: process variable of the PID controller, read through the analog inputs (AI1 and AI2).
18.2.3 Parameters
See below the description of the parameters related to the PID controller application.
P100 – Acceleration Time
P101 – Deceleration Time
P133 – Minimum Speed
P134 – Maximum Speed
P221 – LOC Reference Selection
P222 – REM Reference Selection
P231 – AI1 Signal Function
P232 – AI1 Gain
P233 – AI1 Signal
P234 – AI1 Offset
P235 – AI1 Filter
P236 – AI2 Signal Function
P237 – AI2 Gain
P238 – AI2 Signal
P239 – AI2 Offset
P240 – AI2 Filter
P251 – AO1 Function