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WEST PQP-171-P, Техническая документация инструкция

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Page 24 of 34 

PQP-171-P 

05.06.2020 

 

5.4  Control parameters 

5.4.1 

PID controller 

 

Command

 

Parameter

 

Unit

 

Group

 

C:I 

X 

I=  
P|I|D|D_T1|OFFSET 
:P    x= 0… 10000 
:I    x= 0… 30000 
:D    x= 0…  1200 
:D_T1 x= 0…  1000 
:FF   x= 0… 10000 

 
 
0.01 
0.1 ms 
0.1 ms 
0.1 ms 
0.01 % 

CL 

 

The control function will be parameterized via this command.   

The P, I and D gain are similar to a standard PID controller. The T1 factor is used for the D-gain in order to 
suppress high-frequency noise. 

Via the OFFSET value the output is controlled directly. The PID closed loop control function has only to adjust 
the difference (the error). This leads to a stable control behavior and also to a dynamic drive. This parameter 
is active only if valves with one solenoid are used (-> SIGNAL:U). 

Value 0 deactivates the integrator. 

 

 

 

 

w  command
value scaling

ramp
function

x  feedback
value scaling

-

0.. 10 V
4.. 20 mA

C_EXT:PT1
C_EXT:T1

0.. 10 V
4.. 20 mA

C:P

C:I

C:I_LIM

w

x

C:D
C:D_T1

-

C_EXT:FF

C:OFFSET

Содержание PQP-171-P

Страница 1: ...Technical Documentation PQP 171 P Universal pump control module ...

Страница 2: ...ameter view 19 5 2 3 FIXCURR Fix output value 19 5 2 4 CTRLMODE Control function 19 5 2 5 CCMODE Characteristics linearization 20 5 2 6 SENS Malfunction monitor 20 5 2 7 EOUT Output signal if not ready 20 5 3 InSignal adaptation 21 5 3 1 SIGNAL Type of input signal 21 5 3 2 N_RANGE X Sensor nominal pressure 21 5 3 3 OFFSET X Sensor offset 21 5 3 4 RA Command signal ramp time 22 5 3 5 CC Characteri...

Страница 3: ...adjustment 29 5 6 6 PPWM P gain of the current loop 29 5 6 7 IPWM I gain of the current loop 29 5 7 Special commands 30 5 7 1 AINMODE Scaling mode 30 5 7 2 AIN Analogue input scaling 30 5 8 PROCESS DATA Monitoring 31 6 Appendix 32 6 1 Failure monitoring 32 6 2 Troubleshooting 32 7 Notes 34 ...

Страница 4: ...includes the module plus the terminal blocks which are part of the housing The Profibus plug interface cables and further parts which may be required should be ordered separately This documentation can be downloaded as a PDF file from www w e st de 1 3 Accessories WPC 300 Start Up Tool downloadable from our homepage products software Any standard cable with USB A and USB B connector can be used as...

Страница 5: ... 2020 The data and characteristics described herein serve only to describe the product The user is required to evaluate this data and to check suitability for the particular application General suitability cannot be inferred from this document We reserve the right to make technical modifications due to further development of the product described in this manual The technical information and dimens...

Страница 6: ... by trained specialist staff The instruction manual must be read with care The installation instructions and the commissioning instructions must be followed Guarantee and liability claims are invalid if the instructions are not complied with and or in case of incorrect installation or inappropriate use CAUTION All electronic modules are manufactured to a high quality Malfunctions due to the failur...

Страница 7: ...eters SC P I D T1 and LIM for the integrator limitation as well as different static settings and valve adjustments for the power stage like MIN MAX DITHER in frequency and amplitude and the PWM frequency By the free parameterization of the power stage all typical proportional valves of the different manufactures can be optimal adapted Because of the easy handling a very short training period is gu...

Страница 8: ...1 2 3 4 5 6 7 8 9 10 11 12 14 15 16 13 D 41372 Niederkrüchten Homepage http www w e st de W E ST Elektronik 13 14 15 9 10 11 12 16 A B Klemmblöcke steckbar Terminals removable LEDs USB Interface Typenschild und Anschlussbelegung Type plate and terminal pin assignment 23 0000 mm 99 0000 mm 114 0000 mm ...

Страница 9: ...s frequency converters power contactors and cable lengths 3 m Inexpensive SMD ferrites can be used with high frequency radiation The screening should be connected to PE PE terminal as close to the module as possible The local requirements for screening must be taken into account in all cases The screening should be connected to at both ends Equipotential bonding must be provided where there are di...

Страница 10: ...and a flashing READY LED The output is current controlled whereby a high accuracy and a good dynamic is obtained In this system the speed of the cylinder is adjusted by the swivel angel of the pump Because of the relatively pressure independent volume flow compared to a throttle control with a proportional valve the actuator can be driven by relative continual speed The system is realized by an el...

Страница 11: ...Page 11 of 34 PQP 171 P 05 06 2020 Picture 1 valve with one solenoid Picture 2 valve with two solenoids ...

Страница 12: ... the system redundancy and the connection diagram the following parameters The NOMINAL PRESSURE for the ANALOGUE INPUTS See specifications of the system and the sensors The output CURRENT and the typical valve parameter DITHER and MIN MAX Pre parameterization is necessary to minimize the risk of an unintentional movement pressure Control signal Check the control signal output signal The control si...

Страница 13: ...e stored parameters are in consistent To acknowledge the error data has to be saved with the SAVE command or the corresponding button in the WPC Connection Supply PIN 7 Power supply see technical data PIN 8 0 V GND connection Connection Analogue signals PIN 9 10 Command value WA signal range 0 10 V or 4 20 mA scalable PIN 13 14 Feedback value X signal range 0 10 V or 4 20 mA scalable PIN 11 0 V GN...

Страница 14: ...gital Output USB type B PQP 171 P 6 13 Valve adaption Digital Input u Control program Ramp function PID control function ia ib to solenoid A c wa x 12 GND Ub 8 7 DC DC to solenoid B Power supply Power stage Digital Input Reference voltage 14 11 Setpoint Actual value Scaling Input Scaling 9 10 Differetial Input w e ...

Страница 15: ...rence voltage output Ready A Solenoid B FC Digital input output PE 0V 0V 4 5 Connection examples 8V PIN 12 GND PIN 11 In PIN 9 In PIN 10 Potentiometer Joystick In PIN 9 In PIN 10 SPS PLC 0 10 V 10 V 8V PIN 12 GND PIN 11 In PIN 9 In PIN 10 Joystick 4 20 mA input In PIN 9 13 In PIN 10 14 GND PIN 11 Alternative 3 wire connection of two solenoids Example Hawe valves 3 4 1 2 A Solenoid B Solenoid ...

Страница 16: ...output Max output current Frequency A Hz Wire break and short circuit monitored 2 6 61 2604 selectable in defined steps Controller cycle times Solenoid current control Signal processing µs ms 125 1 Serial interface Transmission rate kBaud USB virtual COM Port 9 6 115 2 Housing Material Flammability class Snap on module acc EN 50022 PA 6 6 polyamide V0 UL94 Weight kg 0 13 Protection class Temperatu...

Страница 17: ...0 01 Sensor offset Command signal scaling SIGNAL W U0 10 mbar Type of input Ramp function RA UP RA DOWN 100 100 ms ms Command signal ramp times Characteristic linearization CC X Y 0 01 X Y parameter for up to 10 points Control parameters PID controller C P C I C D C D_T1 C OFFSET 100 4000 0 500 0 0 01 0 1 ms 0 1 ms 0 1 ms 0 01 P gain I gain D gain D gain filter Direct control Integrator control C ...

Страница 18: ... frequency DAMPL 500 0 01 Dither amplitude PWM 2604 Hz PWM frequency ACC ON Current loop auto adjustment PPWM IPWM 7 40 P Gain of the current loop I Gain of the current loop Special commands Scaling mode AINMODE EASY Input scaling mode AIN X AIN W A 1000 B 1000 C 0 X V 0 01 Free scaling of the analogue inputs Gets activated when AINMODE is switched over to MATH ...

Страница 19: ...The commands in Expert Mode have a more significant influence on system behavior and should accordingly be changed with care 5 2 3 FIXCURR Fix output value Command Parameters Unit Group FIXCURR x x 10000 10000 0 01 STD This command changes the operating mode Various commands defined via STD EXP are blanked out in Standard Mode The commands in Expert Mode have a more significant influence on system...

Страница 20: ...sn t exist anymore the mod ule automatically resumes to work Normally the monitoring functions are always active because otherwise no errors are detectable via the READY output Deactivating is possible mainly for troubleshooting 5 2 7 EOUT Output signal if not ready Command Parameters Unit Group EOUT X x 10000 10000 0 01 EXP Output value in case of a detected error or a deactive ENABLE input A val...

Страница 21: ...p N_RANGE X X x 1 10000 EASY This command defines the nominal working range of the feedback sensor Wrong parameterization causes wrong system settings The control parameters cannot be calculated correctly in case of wrong values The N_RANGE X value is set per cent in relation to the working range Because this is a universal controller the working range of the system is defined to 100 as reference ...

Страница 22: ... P 05 06 2020 5 3 4 RA Command signal ramp time Command Parameter Unit Group RA I X i UP DOWN x 1 600000 ms STD Two quadrant ramp function The ramp time is separately set for UP and DOWN ramps t Ausgang Output A A UP A DOWN ...

Страница 23: ...meter CCMODE has to be switched to ON The curve is calculated according to the equation of the linear interpolation y x x1 y1 y0 x1 x0 y1 The influence of the linearization can be estimated via the process data on the monitor or on the oscilloscope For the input of the characteristics linearization the WPC 300 program provides a table and a graphic data input The input signal is mapped on to the X...

Страница 24: ...he T1 factor is used for the D gain in order to suppress high frequency noise Via the OFFSET value the output is controlled directly The PID closed loop control function has only to adjust the difference the error This leads to a stable control behavior and also to a dynamic drive This parameter is active only if valves with one solenoid are used SIGNAL U Value 0 deactivates the integrator w comma...

Страница 25: ... X I P T1 FF P x 0 10000 T1 x 0 1000 FF x 0 10000 0 01 0 1 ms 0 01 CL EXP These commands are used to parameterize an additional PT1 control part parallel to the P gain The time damped P gain can be driven with a higher gain than the direct P gain The stability is enhanced by the T1 value Via the FF parameter this part of the command value is given directly to the output So the controller has to co...

Страница 26: ...e MIN value the overlap dead band of the valve will be compensated Via the TRIGGER the activation point of the MIN function is set and so a non sensitive range around the zero point1 can be specified CAUTION If the MIN value is set too high it influences the minimal pressure which cannot be ad justed any longer In extreme case this causes to an oscillating at small input values 1 This dead band is...

Страница 27: ... control Furthermore the direction of the output signal can be switched Using applications with one solenoid it means an inverted characteristic curve If two solenoids are used it effects the switching of the solenoids 1S One solenoid standard o U 0 100 IA 0 100 1S One solenoid inverted o U 0 100 IA 100 0 2S Two solenoids standard o U 0 Controlling IA o U 0 Controlling IB 2S Two solenoids switched...

Страница 28: ... nominal output cur rent see CURRENT command The dither frequency is defined in Hz Depending on the internal calcula tions the frequency is adjustable in steps only CAUTION The PPWM and IPWM parameters influence the effect of the dither setting These parameters should not be altered again after the dither has been optimized CAUTION If the PWM frequency is less than 500 Hz the dither amplitude DAMP...

Страница 29: ...X x ON OFF EXP Operation mode of the closed loop current control ON In automatic mode PPWM and IPWM are calculated depending on the preset PWM frequency OFF Manual adjustment 5 6 6 PPWM P gain of the current loop 5 6 7 IPWM I gain of the current loop Command Parameters Unit Group PPWM X IPWM X x 0 30 x 1 100 EXP The PI current controller for the solenoids is parameterized with these commands CAUTI...

Страница 30: ...ommand offers an individual scalable input The following linear equation is used for the scaling c Input b a Output The C value is the offset e g to compensate the 4 mA in case of a 4 20 mA input signal The variables A and B are defining the gain factor with which the signal range is scaled up to 100 e g 1 25 if using 4 20mA input signal defined in default current settings by A 1250 and B 1000 The...

Страница 31: ...nge 0 100 The offset will be compensated on 20 4 mA and the signal 16 mA 20 mA 4 mA will be gained to 100 20 mA Each of this parameterization for 4 20 mA is setting the range to 0 100 5 8 PROCESS DATA Monitoring Command Description Unit WA W WCC X E C U IA IB Input signal after scaling Command value after ramp function Command value ather linearization Feedback value Control error Controler output...

Страница 32: ...ation has been set with the assistance of the valve data sheets The RC in monitor mode can be used to analyze faults CAUTION All safety aspects must be thoroughly checked when working with the RC Remote Control mode In this mode the module is controlled directly and the machine control cannot influence the module FAULT CAUSE SOLUTION ENABLE is active the mod ule does not respond and the READY LED ...

Страница 33: ... current control loop The adjustments of the PWM frequency and the dither frequency and amplitude have to be checked carefully Good experi ences are made with a PWM frequency 2600 Hz higher frequency the dither has to be aligned to the valve amplitude and frequency b PWM frequency 100 400 Hz lower frequency the dither amplitude is set to 0 disabled 5 ENABLE and START PIN 6 are active READY LED is ...

Страница 34: ...Page 34 of 34 PQP 171 P 05 06 2020 7 Notes ...

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