Delta AS Series Programming Manual page 489

AS Ser ies Pro gra mm in g M anu al
MV =
MV =
2. When you set PID_MODE to 1, the PID control mode is the automatic tuning mode. After the tuning of the
parameter is complete, PID_MODE is set to 0. The PID control mode then becomes the automatic control mode.
PID Block Diagram:
PID Block Diagram (Independent)
SV
PV
_6
6 - 2 1 0
 t 
1
dE
∫
K E + E dt − T * +
 
c d
T dt
 
i
0
Or
 t 
1 dE
∫
*
K E + E dt + T +
 
c d
T dt
 
i 0
PID_D IR
1
+
+
-
REVERSE
0
X(-1)
Kc_Kp
PID-P
>0
<=0
0
Kc_Kp
Ti_Ki
PID-I
>0
<=0
0
Ti_Ki
Td_Kd
PID-D
>0
<=0
0
Td_Kd, Tf
E = SV – PV
BIAS
E = PV – SV
BIAS
DEAD BAND
ERR_DBW
PID_MAN
BIAS
+
0
+
+
1
+
+
+
MOUT_AUTO
+
0
MOUT
1
E
MV_LIMIT
MV
MV_MAX, MV_MIN
MOUT
PID_MAN
0
1
MOUT