Chapter 7 Appendix • 342 ARTDrive V2 series - Instruction Manual
example:
PD D1 gain % = 1%
PD der filter = 20ms
If it is not required, leave the parameters = 0.
7.5.7 Generic PID
Drive settings: (only those referring to the PID function are described)
Connect to the analog input 1 the reaction signal.
Select PID fbk src = An inp 1 output
Connect to the analog input 2 the reference.
Select PID draw src = An inp 2 output
Connect the feed forward signal to its internal reference.
Select PID inp FF src = Int PID inp FF
Set Int PID inp FF to 100%
Connect to the Digital input 1 the input enabling the PID PI Block
Select PID PI enab src = DI 1 monitor
Connect to the Digital input 2 the input enabling the PID PD Block
Select PID PD enab src = DI 2 monitor
In case just one contact is needed to enable the PI and PD section, it is
possible to connect also PID PD enab src on the digital input 1 as described
below.
Select PID PD enab src = DI 1 monitor
Connect to the control variable (Torque, Speed, etc.) the PID output
Select Torque ref 1 src or Speed ref 1 src, etc. = PID out s mon; the scale
factor of PID out s mon can be set via the PID Out gain parameter
according to the different needs.
See chapter 6.1.3, Normalizations signals.
7.5.7.1 Parameters
Set Full scale spd equal to the motor speed corresponding to 100% of the
line speed.
Full scale spd = 2550 rpm
Connect
Mlt PI sel 0 = Null
Mlt PI sel 1 = One
The selection of the PID Mlt PI sel 1multiplier is therefore active.
Set PID Mlt PI sel 1 = 1 The starting value is 1
Set PI lim top and PI lim bot in order to obtain a maximum correction of the
PI Block equal to +/- 100% of the control variable.
The PI lim top and PI lim bot parameters can be considered, respectively,
as a maximum and minimum multiplicative factor of the feed-forward.
PI lim top = 1
PI lim bot = -1
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