Delta AS02HC-A

AS Series Module Manual
7- 34
_7
 Dependent Formula & Derivative of E（PID_EQ=True & PID_DE=False）
BIAS
dt
dE
TdtE
T
EKMV
d
t
i
c
+






++=
∫
*
1
0
(E = SV – PV or E = PV – SV)
 Dependent Formula & Derivative of PV（PID_EQ=True & PID_DE=True）
BIAS
dt
dE
TdtE
T
EKMV
d
t
i
c
+






−+=
∫
*
1
0
(E = SV – PV)
Or
BIAS
dt
dE
TdtE
T
EKMV
d
t
i
c
+






++=
∫
*
1
0
(E = PV – SV)
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
+
-
+
REVERSE
X(-1)
PID_DIR
E
DEAD BAND
ERR_DBW
0
1
PID-P
Kc_Kp
Kc_Kp
>0
<=0
0
PID-I
Ti_Ki
Ti_Ki
>0
<=0
0
0
>0
<=0
PID-D
Td_Kd, Tf
Td_Kd
BIAS
PID_MAN
0
1
0
1
MOUT
MOUT_AUTO
MOUT
PID_MAN
0
1
MOUT
MV
MV_LIMIT
MV_MAX, MV_MIN
+
+
+
+
+
+
+