Pid Control - INVT Goodrive 35 Series Operation Manual

inverters
Goodrive35
Function
code
Simple PLC 8~15 step
P10.35
ACC/DEC time
P05.01~ Digital input function
P05.09
Simple PLC and the current
P17.27
step of the multi-step speed

7.15 PID control

PID control is commonly used to control the procedure through the controlled procedure. Adjust the
output frequency by proportional, integral, differential operation with the dispersion of the target
signals to stabilize the value on the target. It is possible to apply to the flow, pressure and
temperature control. Figure of basic control is as below:
Keypad setting PID given
P09.01 Keypad PID given source selection
AI1
0
AI2
1
AI3
2
3
HDI
4
Multi-stage speed
5
6
MODBUS
7
PROFIBUS
8
Ethernet
9
CAN
Simple illustration of the PID control operation and adjustment:
Proportional adjustment (Kp): when there is an error between the feedback and the reference, a
proportional adjustment will be output. If the error is constant, the adjustment will be constant, too.
Proportional adjustment can respond to the feedback change quickly, but it can not realize non-fault
control. The gain will increase with the adjustment speed, but too much gain may cause vibration. The
adjustment method is: set a long integral time and derivative time to 0 first. Secondly make the
system run by proportional adjustment and change the reference. And then watch the error of the
feedback signal and the reference. If the static error is available (for example, increasing the
reference, the feedback will be less than the reference after a stable system), continue to increase the
Name Detailed instruction of parameters
0x0000~0XFFFF
16:Multi-step speed terminal 1
17:Multi-step speed terminal 2
18:Multi-step speed terminal 3
selection
19:Multi-step speed terminal 4
20:Multi-step speed pause
0~15
P09.00
PID given value
Terminal function 25
PID control pause
P17.23
Y
+
N
Given -feedback<P09.08
-
P09.08 PID control deviation limit
P09.02
PID feedback source selection
0
1
2
3
4
MODBUS
P17.24 5
6
PROFIBUS
PID feedback
value
7
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Basic operation instruction
P09.09
the upper limit of PID output
Keep the current
Valid
frequency
Invalid
P09.10
lower limit of PID output
Kp P09.04(proportional gain)
AI1
Ti P09.05 integral time
AI2
Td P09.06 differential time
AI3
HDI
Ethernet
CAN
231
Default
value
0000
0
PID stop adjustment
Set frequency
P17.00
0
1
PID output
P09.03
the chrematistic of PID output