Delta AS Series Programming Manual page 490

PID Block Diagram (Dependent)
+
SV +
-
PV
PID-I
Ti_Ki
PID-D
Td_Kd, Tf
Suggestions
1. Since you can use the 32-bit instruction in a lot of controlled environments, you must choose the appropriate control
function. For example, to prevent improper control, do not use PID_MODE in the motor controlled environment when
it is set to 1.
2. When you tune the parameters Kc_Kp, Ti_Ki, and Td_Kd (PID_MODE is set to 0), you must tune KP first (based on
experience), and then set Ti_Ki and Td_Kd to 0. When you can handle the control, you can increase Ti_Ki and
Td_Kd. When Kc_Kp is 1, it means that the proportional gain is 100%. That is, the error value is increased by a
factor of one. When the proportional gain is less than 100%, the error value is decreased. When the proportional
gain is larger than 100%, the error value is increased.
3. To prevent the parameters that have been tuned automatically from disappearing after a loss of power, you must
store the parameters in the latched data registers when PID_MODE is set to 1. The parameters that have been
automatically tuned are not necessarily suitable for every controlled environment. Therefore, you can modify the
automatically tuned parameters; however, it is suggested that you only modify the Ti_Ki and the Td_Kd.
4. You can use this instruction with many parameters, but to prevent improper control, do not set the parameters
randomly.
PID_D IR
1
DEAD BAND
REVERSE
0
X(-1)
Kc_Kp
>0
<=0
0
BIAS
Ti_Ki
>0
<=0
0
Td_Kd
>0
<=0
0
Ch ap te r 6 Ap pl ie d Instruc ti ons
E
PID-P
Kc_Kp
ERR_DBW
PID_MAN
+
0
+
+
MV_LIMIT
1
MV_MAX, M V_MIN
MOUT_AUTO
MOUT
0
MOUT
PID_MAN
1
MV
0
1
MOUT
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