Delta AS Series Manual page 230

A S S er i es Mo d u le Ma n ua l
Dependent Formula & Derivative of E（PID_EQ=True & PID_DE=False）

Dependent Formula & Derivative of PV（PID_EQ=True & PID_DE=True）

2. When you set the PID_MODE to 1, auto tuning mode is enabled. When auto tuning is complete, the value
becomes 0 and switches off the auto tuning mode automatically.
PID Control Block Diagram:
PID Block Diagram (Independent)
SV
PV
_7
7 - 3 4

t
1
∫
MV = K E + E dt + T

c d
T

i 0
 t
1
∫
MV = K E + E dt − T

c d
T

i
0
Or
 t
1
∫
MV = K E + E dt + T

c d
T

i 0
PID_D IR
1
+
+
-
REVERSE
0
X(-1)
Kc_Kp
PID-P
>0
<=0
0
Kc_Kp
Ti_Ki
PID-I
>0
<=0
0
Ti_Ki
Td_Kd
PID-D
>0
<=0
0
Td_Kd, Tf

dE
(
E = SV – PV or E = PV – SV)
*
+ BIAS

dt


dE
(
E = SV – PV)
* + BIAS

dt


dE
(
E = PV – SV)
*
+ BIAS

dt

DEAD BAND
ERR_DBW
PID_MAN
BIAS
+
0
+
+
1
+
+
+
MOUT_AUTO
+
0
MOUT
1
E
MV_LIMIT
MV
MV_MAX, MV_MIN
MOUT
PID_MAN
0
1
MOUT