B5: Pid Control - YASKAWA U1000 Technical Manual

5.2 b: Application
Multi-function Contact
Input: Timer Function
Multi-function Contact
Output: Timer Function
n b4-03 to b4-08: H2-oo ON-Delay and OFF-Delay Time
Sets the length of the delay time for contact outputs to open or close for the related functions set in H2-oo.
No.
b4-03
b4-04
b4-05
b4-06
b4-07
b4-08
Internal data of H2-01
Multi-Function Digital
Outputs of H2-01
Note: The multi-function digital output closes for at least 100 ms even when the length of the off-delay time and on-delay time for multi-function
digital output are each shorter than 100 ms,
u

b5: PID Control

The drive has a built-in Proportional + Integral + Derivative (PID) controller that uses the difference between the target value
and the feedback value to adjust the drive output frequency to minimize deviation and provide accurate closed loop control
of system variables such as pressure or temperature.
n
P Control
The output of P control is the product of the deviation and the P gain so that it follows the deviation directly and linearly. With
P control, only an offset between the target and feedback remains.
n I Control
The output of I control is the integral of the deviation. It minimizes the offset between target and feedback value that typically
remains when pure P control is used. The integral time (I time) constant determines how fast the offset is eliminated.
n D Control
D control predicts the deviation signal by multiplying its derivative (slope of the deviation) with a time constant, then adds
this value to the PID input. This way the D portion of a PID controller provides a braking action to the controller response and
can reduce the tendency to oscillate and overshoot.
D control tends to amplify noise on the deviation signal, which can result in control instability. Only use D control when
absolutely necessary.
n PID Operation
To better demonstrate PID functionality,
level.
206
□□
ON
=18)
（H1-
□□
ON
（H2- =12)
b4-01
Figure 5.22 Timer Operation
Name
H2-01 ON Delay Time
H2-01 OFF Delay Time
H2-02 ON Delay Time
H2-02 OFF Delay Time
H2-03 ON Delay Time
H2-03 OFF Delay Time
ON
ON
b4-04
b4-03
Time period that the multi- function
digital output is closed 100 ms
Figure 5.23 illustrates the PID output when the PID input (deviation) is at a constant
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
ON
b4-02 b4-01
ON
b4-03
Time period that the multi-function
digital output is closed < 100 ms
Time period that the multi-function
digital output is closed = 100 ms
On (Closed)
Off (Open)
On (Closed)
ON
Off (Open)
b4-02
Setting Range
0 to 65000 ms
0 to 65000 ms
0 to 65000 ms
0 to 65000 ms
0 to 65000 ms
0 to 65000 ms
On (Closed)
Off (Open)
ON
On (Closed)
Off (Open)
b4-04
Default
0 ms
0 ms
0 ms
0 ms
0 ms
0 ms