Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 240

■PIDP operation
• Gain (Kp) is calculated as follows.
Kp = K  PROPORTIONAL
K: Output gain, PROPORTIONAL: Gain
• Output gain (K) is calculated as follows.
Condition
• K value to the deviation (DV) of when the gap width (GW) is equal to 0
DV' (Positive)
DV (Negative)
DV'(Negative)
• K value to the deviation (DV) of when the gap width (GW) is
greater than 0
DV' (Positive)
DV (Negative)
-GW
DV'(Negative)
DV: Deviation (%), GW: Gap width (%) = Rate of the gap width to the deviation, GG: Gap gain
• Deviation for PIDP operation (DV') is calculated as follows.
Condition
DV < -GW
|DV|  GW
DV > GW
DV': Deviation for PIDP operation (%)
DV: Deviation (%)
GW: Gap width (%)
GG: Gap gain
• Deviation (DV) for direct/reverse action is calculated as follows.
Condition
Direct action (PN = 1)
Reverse action (PN = 0)
DV: Deviation (%)
PVP (%): PV input value (%)
100
SV(%)= ×(SV-RL)
RH-RL
RH: Engineering value high limit
RL: Engineering value low limit
SV: Setting value
10 LOOP CONTROL OPERATION
238
10.10 Position Type PID Control (Disable Tracking for primary loop/Disable Tracking from secondary loop) (M+P_PIDP)
0
DV (Positive)
GG=1.0
GG=0.5
GG=0.0
0
DV (Positive)
GW
When |DV|  GW
When |DV| > GW
Deviation for PIDP operation (DV')
DV' = -(GG  GW) + (DV + GW)
DV' = GG  DV
DV' = GG  GW + (DV - GW)
Deviation (DV)
DV (%) = PVP (%) - SV (%)
DV (%) = SV (%) - PVP (%)
Output gain (K)
K = 1
K = GG
(1-GG)×GW
K=1-
|DV|