Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 114

Processing details
■Lead-lag compensation processing
When the operation signal (INVLD) is FALSE, this function block performs lead-lag compensation to the value input from the
input variable IN and outputs the result from the output variable OUT_.
Condition
Operation Lag time
signal (T1_)
(INVLD) Lead time
(T2_)
FALSE T1_ > T2_
T1_ < T2_
TRUE T1_ > T2_
T1_ < T2_
Operation signal (INVLD)
FALSE (Valid)
TRUE (Invalid)
IN: Input value
OUT_: Output value
IN : Last input value
n-1
OUT_ : Last output value
n-1
T1_: Lag time (lag time constant) (s)
T2_: Lead time (lead time constant) (s)
T: Execution cycle (s)
S: Laplace operator
■Operation signal
When the operation signal (INVLD) is FALSE: Lead-lag compensation is valid.
When the operation signal (INVLD) is TRUE: Lead-lag compensation is invalid.
8 CONTROL OPERATION
112
8.1 Lead-Lag (M+P_LLAG)
Input (IN)
Input (IN)
t0
Input (IN)
t0
Input (IN)
t0
Output (OUT_)
1
OUT_= {(T2_×(IN-IN
T1_+ΔT
• For T1_ + T = 0, OUT_ = 0
• When the lead time (lead time constant) T2_ is 0, the output is the same as the output of when the primary lag
filter is applied.
OUT_ = IN
Lead-lag
compensation
1+T2_•S
1+T1_•S
t
1+T2_•S
1+T1_•S
t
None
t
))+(T1_×OUT_ )+(ΔT×IN)}
n-1 n-1
Output (OUT_)
Output(OUT_)
t0
Output(OUT_)
t0
Output value = Input value
Output(OUT_)
t0
t
t
t