Veikong gpd 515/g5 Startup Manual page 167

5 . 3 6 P I D C O N T R O L
b 5 - 0 8 : Output Lag Filter Time
This parameter adds a filter to the PID output to keep it from changing too quickly.
The higher the setting, the slower the PID output will change.
b 5 - 0 9 : PID Output Selection
Setting
0
(Not Inverted)
1
(Inverted)
b 5 - 1 0 : PID Output Selection
This parameter is a multiplier in the output of the PID controller. Increasing this parameter
will make the PID controller more responsive. Be careful not to increase this parameter too
much or the drive/system will become unstable.
b 5 - 1 1 : PID Output Reverse Selection
Setting
0
1
All of these parameters are interactive, and will need to be adjusted until the control loop is
properly tuned, i.e. stable with minimal steady-state error. A general procedure for tuning
these parameters is as follows:
1 . Adjust Proportional Gain until continuous oscillations in the Controlled
Variable are at a minimum.
2 . The addition of Integral Time will cause the steady-state error to approach
zero. The time should be adjusted so that this minimal error is attained as
fast as possible, without making the system oscillate.
3 . If necessary, adjust derivative time to reduce overshoot during startup.
The drive's accel and decel rate times can also be used for this purpose.
( 1 )
These parameters are factory set for optimum results for most applications,
and generally don't need to be changed.
Continued
( 1 )
The output of the PID controller will decrease when there is an
increase in feedback level.
The output of the PID controller will increase when there is an
increase in the feedback level.
( 1 )
If the PID controller calls for a "negative" speed (reverse), the
drive/motor will stop.
If the PID controller calls for a "negative" speed (reverse), the
drive/motor will run in reverse.
Factory setting: 0 . 0 0
Range: 0.00 to 10.00 seconds
Factory setting: 0
Range: 0 or 1
Description
Factory setting: 1 . 0
Range: 0.0 to 25.0
Factory setting: 0
Range: 0 or 1
Description
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