Omron SYSMAC C200HS Operation Manual page 254

Special Math Instructions
Simple PID Control
(1)
(2)
Overshoot
Control Operations
Proportional Operation
(Forward Operation)
Operation
Proportional band
amount
100%
0%
244
When overshooting is prevented with simple PID control, stabilization of distur-
bances is slowed (1). If stabilization of disturbances is speeded up, on the other
hand, overshooting occurs and response toward the target value is slowed (2).
With feed-forward PID control, there is no overshooting, and response toward
the target value and stabilization of disturbances can both be speeded up (3).
As the target response is slowed,
the disturbance response worsens.
As the disturbance response is
slowed, the target response worsens.
Proportional Operation (P)
Proportional operation is an operation in which a proportional band is estab-
lished with respect to the set value (SV), and within that band the operation
amount (the control output amount) is made proportional to the deviation. If the
present value (PV) is smaller than the proportional band, the operation amount
will be 100%. If within the proportional band the operation amount is made pro-
portional to the deviation and gradually decreased until the SV and PV match
(i.e., until the deviation is 0), the operation amount will return to the previous val-
ue (forward operation).
The proportional band is expressed as a percentage with respect to the total in-
put range. With proportional operation an offset (residual deviation) occurs, and
the offset is reduced by making the proportional band smaller. If it is made too
small, however, hunting will occur.
SV
Integral Operation (I)
Combining integral operation with proportional operation reduces the offset ac-
cording to the time that has passed. The strength of the integral operation is indi-
cated by the integral time, which is the time required for the integral operation
amount to reach the same level as the proportional operation amount with re-
spect to the step deviation, as shown in the following illustration. The shorter the
integral time, the stronger the correction by the integral operation will be. If the
Feed-forward PID control
Target response
Adjusting the Proportional Band
Proportional band too narrow (hunting occurring)
Proportional band just right
Proportional band too wide (large offset)
Section 5-21
Disturbance response
Offset