Toshiba ASD 9 Series Manuale utente

PID CONTROL MANUAL

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PID Control

Manual

Document Number: 58695-000

Date: March, 2008

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Introduction

Congratulations on your purchase of the Toshiba 9-Series ASD. The 9-series ASD has been designed to

provide excellent speed and torque control in an open-loop feedback configuration.

The 9-series ASD performance can be further enhanced by using either process-based or speed-based PID

control. PID is a closed-loop technique that minimizes error by reacting to three feedback values:

• One value that is proportional to the error.

• One value that is proportional to the cumulative error.

• One value that is proportional to the rate of change of the error.

Important Notice

The instructions contained in this manual are not intended to cover all details or variations in equipment

types. Nor may it provide for every possible contingency concerning the installation, operation, or

maintenance of this equipment. Should additional information be required contact your Toshiba

representative.

The contents of this manual shall not become a part of or modify any prior or existing agreement,

commitment, or relationship. The sales contract contains the entire obligation of Toshiba International

Corporation. The warranty contained in the contract between the parties is the sole warranty of Toshiba

International Corporation and any statements contained herein do not create new warranties or modify the

existing warranty.

Any electrical or mechanical modifications to this equipment without prior written consent of

Toshiba International Corporation will void all warranties and may void other safety certifications.

Unauthorized modifications may also result in a safety hazard or equipment damage.

Misuse of this equipment could result in injury and equipment damage. In no event will Toshiba

Corporation be responsible or liable for direct, indirect, special, or consequential damage or injury

that may result from the misuse of this equipment.

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Contacting Toshiba’s Customer

Support Center

Toshiba’s Customer Support Center can be contacted to obtain help in resolving any Adjustable Speed

Drive system problem that you may experience or to provide application information.

The center is open from 8 a.m. to 5 p.m. (CST), Monday through Friday. The Support Center’s toll free

number is US (800) 231-1412/Fax (713) 937-9349 — Canada (800) 527-1204.

You may also contact Toshiba by writing to:

Toshiba International Corporation

13131 West Little York Road

Houston, Texas 77041-9990

Attn: ASD Product Manager.

For further information on Toshiba’s products and services, please visit our website.

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About This Manual

This manual was written by the Toshiba Technical Publications Group. This group is tasked with

providing technical documentation for the 9-Series family of ASDs. Every effort has been made to

provide accurate and concise information to you, our customer.

At Toshiba we’re continuously searching for better ways to meet the constantly changing needs of

our customers. E-mail your comments, questions, or concerns about this publication.

Manual’s Purpose and Scope

This manual details the PID feedback control related parameters, functions, and their default values.

Both process and speed PID feedback control can be customized by adjusting these ASD parameter

settings.

This manual is to be used in conjunction with the operations manual specified for your 9-Series ASD.

To maximize the functionality of the ASD while operating in the PID control mode a working

familiarity with this manual will be required. This manual has been prepared for theASD installer, user,

and maintenance personnel. This manual may also be used as a reference manual or for training. With

this in mind,use this manual to develop asystem familiarity before attempting to operate the ASD using

the PID Control Function parameters

Because of our commitmentto continuous improvement,Toshiba International Corporation reserves the

right, without prior notice, to update information, make product changes, or to discontinue any product

or service identified in this publication.

Toshiba International Corporation (TIC) shall not be liable for direct, indirect, special, or

consequential damages resulting from the use of the information contained within this manual.

TOSHIBA is a registered trademark of Toshiba Corporation. All other product or trade references

appearing in this manual are registered trademarks of their respective owners.

This manual is copyrighted. No part of this manual may be photocopied or reproduced in any form

without the prior written consent of Toshiba International Corporation.

Printed in the U.S.A.

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Table of Contents

PID Control Manual i

System Control Using PID................................................................................................1

Process/Speed PID Control...............................................................................................2

Select the PID Mode ....................................................................................................2

Specify the Process Reference Value...........................................................................2

Specify the Feedback Response...................................................................................4

Set the Limit Parameters ..............................................................................................6

Set the PID Gain Parameters........................................................................................6

Simple Position PID Control ............................................................................................6

Additional PID Related Commands ................................................................................7

Switch to Open Loop Operation...................................................................................7

Reset the Integral and Differential Gain for PID Control............................................7

Display the Process and Feedback Values...................................................................7

Scaling the Analog Input Signal...................................................................................8

PID Control Parameter Summary.................................................................................10

Parameter Descriptions ..............................................................................................12

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ii PID Control Manual

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PID Control Manual 1

System Control Using PID

PID is an operating mode that maintains a constant system output by comparing the monitored system

output (feedback) to a setpoint and compensating for the difference between the two. System

adjustments are increased or decreased as a function of the received feedback. This self-correcting

action eliminates the requirement for constant operator intervention.

The automatic adjustment may be either process-variable-, speed-, or position dependent.

The PID Control Switch parameter enables the PID function by allowing the user to select the PID

operating mode. Selecting PID Off disables the PID function.

1. PID Off — Disables the PID feedback.

2. Process PID — Monitors the control variable (e.g., temperature, pressure, etc.) as the measurement

that is to be compared to the setpoint in determining the ASD output adjustment. See Figure 1.

3. Speed PID — Monitors the ASD output speed (e.g., Motor RPM, encoder, etc.) as the measurement

that is to be compared to the speed setpoint in determining the ASD output adjustment.

See Figure 2.

4. Simple Position PID — Monitors the load position (e.g., crane, sprayer, etc.) as the measurement

that is to be compared to the setpoint in determining the ASD output adjustment. See Figure 3.

Figures 1 – 3 show the relationship of the parameters required for Process PID, Speed PID, and Easy

Position PID.

Figure 1. Diagram for F359 = Process PID.

Figure 2. Diagram for F359 = Speed PID.

Process

Reference

Value

Process Upper Limit

F367 PID Control Jump Frequency

Processing Increase/

Decrease Rate

Acceleration Time 1 - F00

Deceleration Time 1 - F01

F368

Process Lower Limit

PID Deviation

Upper Limit

F364

F365

PID Deviation

Lower Limit

PID Output

Upper Limit

F370

F371

PID Output

Lower Limit

Upper Limit

Frequency

F012

F013

Lower Limit

Frequency

Feedback Signal

Process Upper Limit

F367 PID Control Jump Frequency

Processing

Process

Increase/

Decrease Rate

Process

Increase Rate - F372

Decrease Rate - F373

F368

Process Lower Limit

PID Deviation

Upper Limit

F364

F365

PID Deviation

Lower Limit

PID Output

Upper Limit

F370

F371

PID Output

Lower Limit

Upper Limit

Frequency

F012

F013

Lower Limit

Frequency

Feedback Signal

Delay

Filter

F361

peed

eference

alue

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2PID Control Manual

Figure 3. Diagram for F359 = Position PID.

Process/Speed PID Control

Select the PID Mode

Select the PID mode at parameter F359 and the PID feedback source at parameter F360.

Position PID is addressed specifically in Simple Position PID Control on pg. 6.

Specify the Process Reference Value

Select the feedback input at F004 and F207. Adjust the process reference value (set point) to deliver the

desired process variable output. The commanded frequency and actual output frequency may not

always be the same because it is only the value of the process variable that is the basis of the feedback

response.

Example: Set the Process Reference Value With an External Signal.

An example of a process reference value set with an external signal is shown on the next page. Figure 4.

The desired process output is 15 psi.

A process reference value of 5 V will produce a process output of 15 psi. This process reference value

of 5 V corresponds to a frequency command of 40 Hz.

The process feedback is input at the V/I terminals. The ASD parameters F201 – F204 are set so a

feedback value of 12 mA from the pressure transducer corresponds to a frequency command of 40 Hz.

Input the frequency set points and associated process values. Set the maximum frequency to 80 Hz.

Parameter settings:

F004 = RR Input F360 = V/I Input F011 = 80.0 Hz F012 = 80.0 Hz

F201 = 20% F202 = 0 Hz F203 = 100% F204 = 80 Hz

F210 = 0% F211 = 0 V F212 = 100% F213 = 10 V

PID Control

Position Completion

Range

F381

Position

Completion Range

Feedback Signal

Position

Reference

Value

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