Mitsubishi Electric FR-E700EX Instruction Manual page 238

Special operation and speed control
(1) PID control basic configuration
 Pr.128 = "20, 21" (measured value input)
Pr.133
or terminal 2
0 to 5VDC
(0 to 10VDC)
(2) PID action overview
1) PI action
A combination of proportional control action (P) and integral control
action (I) for providing a manipulated variable in response to deviation
and changes with time.
[Operation example for stepped changes of measured value]
(Note) PI action is the sum of P and I actions.
2) PD action
A combination of proportional control action (P) and differential control
action (D) for providing a manipulated variable in response to deviation
speed to improve the transient characteristic.
[Operation example for proportional changes of measured value]
(Note) PD action is the sum of P and D actions.
3) PID action
The PI action and PD action are combined to utilize the advantages of
both actions for control.
(Note) PID action is the sum of P, I and D actions.
236
Drive unit circuit
+ -
Set point
Terminal 4
Feedback signal (measured value)
Kp: Proportionality constant Ti: Integral time S: Operator Td: Differential time
Manipulated
PID operation
variable
1
Kp 1+ +Td S
Ti S
4 to 20mADC (0 to 5V, 0 to 10V)
Deviation
P action
I action
PI action
P action
D action
PD action
Measured value
P action
I action
D action
PID action
Motor
M
Set point
Measured value
Time
Time
Time
Set point
Deviation
Measured value
Time
Time
Time
Set point
Deviation
Time
Time
Time
2
y=at +bt+c
Time