Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 1246

■Tracking processing (2)
• The set value (SV) is inversely transformed from the engineering value and SV
expression).
100
SV '= ×(SV -RL)
n n
RH-RL
• Tracking processing is performed when all of the following conditions are satisfied.
• The tracking bit (TRK) is set to 1.
• The set value (E2) is used.
• The control mode (MODE) is set to any of the following: MAN, AUT, CMV, CMB, CAB, LCM, LCA, or LCC.
E2 = SV '
n
• If the set value (E2) is the upper loop MV, the TRKF of the disable alarm detection (INH) of the upper loop is set to 1.
■Gain (Kp) operation processing (3)
• The deviation (DV) is calculated under the following conditions.
Condition
Direct action (PN = 1)
Reserve action (PN = 0)
• The output gain (K) is calculated under the following conditions.
Condition
|DV|  GW
|DV| > GW
■Two-degree-of-freedom PID control (4)
The two-degree-of-freedom PID control operation is performed with the following operational expression.
Item
B
n
C Direct action (PN = 1)
n
Reserve action (PN =
0)
D Direct action (PN = 1)
n
Reserve action (PN =
0)
BW(MV)
: K  Gain (P), M
K
P D
11 PROCESS CONTROL INSTRUCTIONS
1244
11.3 Control Operation Instructions
Operational expression
DV = E1 - SV
DV = SV
Operational expression
K = GG
K=1-
Operational expression
M ×T
D D
B +
n-1
M ×CT+T
D
PV - PV
n n-1
- (PV - PV )
n n-1
M ×T
D D
D +
n-1
M ×CT+T
D
M ×T
D
D +
n-1
M ×CT+T
D
K ×{(1-α)×(DV -DV
P n
: Derivative gain (MTD), T
'
n
' - E1
n
(1-GG)×GW
|DV|
CT×B
×{(DV -2DV +DV )-
n n-1 n-2
D
CT×D
× {(PV -2PV +PV )-
n n-1 n-2
D
D
×{-(PV -2PV +PV )-
n n-1 n-2
D
CT
)+ ×DV +(1-β)×B +α×C
n-1 n n n
T
I
: Integral constant (I), T : Derivative constant (D)
I D
' is calculated (refer to the following
n
n-1
}
TD
n-1
}
TD
CT×D
n-1
}
T
D
+β×D }
n