Delta AS Series Programming Manual page 762


Dependent Formula & Derivative of PV(PID_EQ=True & PID_DE=True)
MV K
=
c
MV = K
c
2. When you set the PID_MODE to 1, auto tuning mode is enabled. When auto tuning is complete, the value
becomes 0 and switches off the auto tuning mode automatically.
PID Control Block Diagram:
PID Block Diagram (Independent)
+
SV
PV
PID Block Diagram (Dependent)
SV
PV
 t 
1 dE
∫
E E dt T * + BIAS
+ −
 
d
T dt
 
i
0
Or
 t 
1
dE
∫
E + E dt + T * + BIAS
 
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
PID_D IR
1
+
+
-
REVERSE
0
X(-1)
Kc_Kp
>0
<=0
Ti_Ki
PID-I
>0
<=0
0
Ti_Ki
Td_Kd
PID-D
>0
<=0
0
Td_Kd, Tf
Cha p ter 6 App l ied Ins truc tio ns
(E = SV – PV)
(E = PV – SV)
E
DEAD BAND
ERR_DBW
PID_MAN
BIAS
+
0
+
+
MV_LIMIT
1
MV_MAX, MV_MIN
+
+
MOUT_AUTO
MOUT
+
0
MOUT
PID_MAN
1
E
DEAD BAND PID-P
Kc_Kp
ERR_DBW
0
PID_MAN
BIAS
+
0
+
+
MV_LIMIT
1
MV_MAX, M V_MIN
MOUT_AUTO
MOUT
0
MOUT
PID_MAN
1
MV
0
1
MOUT
MV
0
1
MOUT
6_
6-483