20-9* PID Controller
This group provides the ability to manually adjust this PID Controller. By adjusting the PID Controller parameters
the control performance may be improved. See section PID in the TR200 Design Guide,
MG.11.Bx.yy
for guide-
lines on adjusting the PID Controller parameters.
20-91 PID Anti Windup
Option: Function:
[0] Off
Off
[0] The integrator will continue to change value also after output has
reached one of the extremes. This can afterwards cause a delay of
change of the output of the controller.
[1] * On
On
[1] The integrator will be locked if the output of the built in PID con-
troller has reached one of the extremes (min or max value) and therefore
not able to add further change to the value of the process parameter
controlled. This allows the controller to respond more quickly when it
again can control the system.
20-93 PID Proportional Gain
Range: Function:
0.50 N/
A*
[0.00 - 10.00 N/A]
If (Error x Gain) jumps with a value equal to what is set in par.20-14
Maximum Reference/Feedb. the PID controller
will try to change the output speed equal to what is set in par.4-13
Motor Speed High Limit [RPM]/par.4-14 Motor
Speed High Limit [Hz] but in practice of course limited by this setting.
The proportional band (error causing output to change from 0-100%) can be calculated by means of the formula:
(
1
Proportional
Gain
)
×
(
Max
Reference
)
NOTE: Always set the desired for par.20-14 Maximum Reference/Feedb. before setting the values for the PID
controller in par. group 20-9*.
20-94 PID Integral Time
Range: Function:
20.00 s* [0.01 - 10000.00 s] Over time, the integrator accumulates a contribution to the output from
the PID controller as long as there is a deviation between the Reference/
Setpoint and feedback signals. The contribution is proportional to the
size of the deviation. This ensures that the deviation (error) approaches
zero.
Quick response on any deviation is obtained when the integral time is
set to a low value. Setting it too low, however, may cause the control to
become unstable.
The value set, is the time needed for the integrator to add the same con-
tribution as the proportional part for a certain deviation.
If the value is set to 10,000, the controller will act as a pure proportional
controller with a P-band based on the value set in par.20-93
PID Propor-
tional Gain. When no deviation is present, the output from the propor-
tional controller will be 0.
Parameter Description
TR200 Programming Guide 197
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