Delta C2000 Series User Manual page 394

8. Pr.08-01-08-03 will be set as required
8.1 If there is no vibration in the system, increase Pr.08-01(Proportional Gain (P))
8.2 If there is no vibration in the system, reduce Pr.08-02(Integral Time (I))
8.3 If there is no vibration in the system, increase Pr.08-03(Differential Time(D))
Refer to Pr.08-00 to 08-21 for PID parameters settings.
Proportional Gain (P)
Settings 0.0~500.0
When the setting is 1.0, it means Kp gain is 100%; setting is 0.5, Kp gain means 50%.
It is used to eliminate the system error. It is usually used to decrease the error and get the faster
response speed. But if the value is set too high, it may cause the system oscillation and instability.
If the other two gains (I and D) are set to zero, proportional control is the only one effective.
Integral Time (I)
Settings 0.00~100.00 sec
0.00: Disable
The integral controller is used to eliminate the error during stable system. The integral control
doesn't stop working until error is 0. The integral is acted by the integral time. The smaller integral
time is set, the stronger integral action will be. It is helpful to reduce overshoot and oscillation to
make a stable system. At this moment, the decreasing error will be slow. The integral control is
often used with other two controls to become PI controller or PID controller.
This parameter is used to set the integral time of I controller. When the integral time is long, it will
have small gain of I controller, the slower response and bad external control. When the integral
time is short, it will have large gain of I controller, the faster response and rapid external control.
When the integral time is too small, it may cause system oscillation.
If the integral time is set as 0.00, Pr.08-02 will be disabled.
Derivative Control (D)
Settings 0.00~1.00 sec
The differential controller is used to show the change of system error and it is helpful to preview
the change of error. So the differential controller can be used to eliminate the error to improve
system state. With the suitable differential time, it can reduce overshoot and shorten adjustment
time. However, the differential operation will increase the noise interference. Please note that
too large differential will cause big noise interference. Besides, the differential shows the change
and the output of the differential will be 0 when there is no change. Therefore, the differential
control can't be used independently. It needs to be used with other two controllers to make a PD
controller or PID controller.
This parameter can be used to set the gain of D controller to decide the response of error change.
The suitable differential time can reduce the overshoot of P and I controller to decrease the
oscillation and have a stable system. But too long differential time may cause system oscillation.
The differential controller acts for the change of error and can't reduce the interference. It is not
recommended to use this function in the serious interference.
Chapter 12 Description of Parameter Settings C2000 Series
12-08-3
Factory Setting:80.0
Factory Setting:1.00
Factory Setting:0.00