YASKAWA CIMR-G5A Series - Page 203

7.5 Common Functions
7-49
PID Control Settings
D PID Control Mode Selection: b5-01
User
Change
during
Setting
Factory
Valid Access Levels
User
Constant
Number
Name
g
during
Opera-
tion
Setting
Range
Unit
Factory
Setting
V/f
Control
V/f with
PG
Open
Loop
Vector
Flux
Vector
b5-01
PID control mode
selection
×
0to2 − 0
A A A A
D
Settings
Setting Contents
0 PID control disabled
1 PID control enabled, deviation signal is subject to derivative control.
2 PID control enabled, feedback signal is subject to derivative control.
3 PID control enabled (frequency command + PID control, deviation is subject to D control.)
4 PID control enabled (frequency command + PID control, feedback is subject to D control.)
•
To enable PID control, make a setting between “1” to “4.” (Normally “2” or “4” is used, for mea-
sured-value derivative PID control).
•
When PID control is enabled, the target value input is determined as shown in the following table.
Input Condition
Frequency reference currently
selected
Determined by b1-01.
Multi-function analog input
terminal
Set the PID target value (set value: 0C) in H3-05 or H3-09.
MEMOBUS transmission Set the bit 1 (enabled/disabled selection for transmitted PID target value) of
MEMOBUS register No. 0F to “1” (enabled) and set in the register No. 6.
•
If setting the target value input as b1-01=0 (Digital Operator), set the o1-03 to “1” (% unit) and
input a percentage value for the target value. (When the speed reference is changed, 100% becomes
the maximum frequency reference.)
•
The feedback value is input from a multi-function analog input terminal or frequency reference
(current) terminal. Set PID feedback (setting: B) for either the constant H3-05 (multi-function ana-
log input, terminal 16), or constant H3-09 (multi-function analog input, terminal 14) function
selection. (See Table 7.11.) Adjust the amount of feedback by setting the gain and bias of the analog
inputs that are used.
•
Figure 7.25 shows a speed control application example for settings 3 and 4 (for SPEC: F).
Speed reference (constant)
Speed detection value
(Tachometer generator,
etc.)
Frequency reference
+
−
+
PID
+
Fig 7.25 Application Example of Settings 3 and 4
D
Proportional gain (P), Integral (I) Time, and Differential (D) Time: b5-02, b5-03, b5-05
•
Adjust the responsiveness of the PID control by means of the proportional gain (P), integral time
(I), and derivative time (D).
User
Change
during
Setting
Factory
Valid Access Levels
User
Constant
Number
Name
g
during
Opera-
tion
Setting
Range
Unit
Factory
Setting
V/f
Control
V/f with
PG
Open
Loop
Vector
Flux
Vector
b5-02
Proportional gain (P)
f
0.00 to
25.00
Mul-
tiple
1.00
A A A A
b5-03
Integral (I) time
f
0.0 to 360.0 s 1.0
A A A A
b5-05
Derivative (D) time
f
0.00 to
10.00
s 0.00
A A A A
•
Optimize the responsiveness by adjusting it while operating an actual load (mechanical system).
(Refer to Adjusting PID Control on page 7 - 51.) Any control (P, I, or D) that is set to zero (0.0,
0.00) will not operate.
7