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Gain adjustment in actual operation
3.6.2
Dancer PID gain adjustment
Set the minimum-diameter roll and connect material from the beginning to the end of machine, and increase the speed
gradually while observing the movement of the dancer roll.
At this time, adjust the line speed for dancer roll to move like the below diagram 2).
Adjust to the speed where the dancer roll works without problems at acceleration, constant speed, deceleration, and sudden
deceleration.
The key is to adjust to the condition where dancer PID gain is high as possible at minimum diameter.
Normally, adjust with Pr. 129 PID proportional band and Pr. 130 PID integral time.
1) When response is low
(fall of dancer is great)
POINT
Adjust the line speed for the dancer roll to overshoot once or so before stabilizing to the constant position as shown in
the diagram 2).
(1)
Adjustment when response is low (fall of dancer is great)
• Decrease Pr. 129 PID proportional band by 10% increments.
• Decrease Pr. 130 PID integral time by 0.1s increments.
• Make several adjustments for dancer control to move like diagram 2) at each situation of acceleration, constant speed,
deceleration and sudden deceleration through minimum diameter to maximum diameter.
(2)
Adjustment when response is high (hunting occurs too frequently)
• Increase Pr. 129 PID proportional band by 10% increments.
• Increase Pr. 130 PID integral time by 0.1s increments.
• Make several adjustments for the dancer control to move like the diagram 2) at each situation of acceleration, constant
speed, deceleration and sudden deceleration when diameter is minimum to maximum.
REMARKS
Set Pr. 134 PID differential time only when it is necessary as it causes hunting.
However, set a small value in Pr. 134 PID differential time to cease fluctuation of the dancer roll by disturbance and such at an early point.
(Increase gradually starting at 0.01s.)
24
2) Appropriate
3) When response is fast
(hunting occurs and not stabilized)
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