Mitsubishi Electric FR-D720-0.1K Instruction Manual page 214

Special operation and frequency control
(1) PID control basic configuration
Pr. 128 = "20, 21" (measured value input)
Pr. 133
or terminal 2
Set point
0 to 5VDC
(0 to 10VDC)
(2) PID action overview
1)PI action
A combination of proportional control action (P) and integral control
action (I) for providing a manipulated variable in response to deviation
and changes with time.
[Operation example for stepped changes of measured value]
(Note) PI action is the sum of P and I actions.
2)PD action
A combination of proportional control action (P) and differential control
action (D) for providing a manipulated variable in response to
deviation speed to improve the transient characteristic.
[Operation example for proportional changes of measured value]
(Note) PD action is the sum of P and D actions.
212
Inverter circuit
+ -
Kp 1+
Terminal 4
Feedback signal (measured value)
Kp: Proportionality constant Ti: Integral time S: Operator Td: Differential time
Manipulated
PID operation
variable
1
+Td S
Ti S
4 to 20mADC (0 to 5V, 0 to 10V)
Deviation
P action
I action
PI action
P
action
D
action
PD
action
Motor
IM
Set point
Measured value
Time
Time
Time
Set point
Deviation
Measured value
Time
Time
Time