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PID (Proportional, Integral, Differential) tuning is the process
of setting the control algorithm parameters (codes 65-69) to
achieve optimum performance. While each puller is tuned
before shipment to optimize performance over the entire speed
range, customers may wish to tune the puller for their specific
operating conditions.
Code
Description
65
Gain - small number
increase the contribution
of the Porportional compo-
nent. Zero eliminaltes the
Gain contribution.
66
Reset - small numbers
increase the contribution
of the Integral component.
Zero eliminates the Reset
contribution.
67
Rate - small numbers
increase the contribution
of the Derivative compo-
nent. Zero eliminates the
Rate contribution.
68
Trim authority -
determines how much of
the output is influenced by
Gain, Reset and Rate,
and how much is deter-
mined by feed-forward.
69
Rate threshold-sets the
amount of differential error
required before the Rate
term influences the control
output.
UGE048/1103
Procedure
1. Set Reset (66) and Rate (67)
to zero.
2. Set Trim Authority (68)
to100.
3. Reduce the Gain setting until
the system becomes unsta-
ble.
4. Increase Gain slightly to re-
stabilize the system.
Decrease the value of Reset
until overshoot is observed.
Overshoot occurs when the
feedback goes over the desired
setpoint before settling to the
desired value.
1. Decrease the value of Rate
until the system becomes
unstable.
2. Increase Rate slightly to re-
stabilize the system.
Start with Trim Authority set at
100. If stable operation cannot
be achieved, reduce this para-
meter and repeat the tuning
procedure.
If unstable operation occurs
only at very low feedback fre-
quencies, slightly increase the
this parameter.
P
C
ULLER
ONTROL
A
P
PID T
S
ETTINGS
DVANCED
:
ROCEDURE
UNING
A
F-3
PPENDIX
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