User Manual EM303B General Purpose Inverter Integration (I): In integration control mode, the output and input error signal integration of controller is in direct ratio. It can eliminate stable error and keep the system away from stable errors after entering stable status, but sharp changes cannot be tracked. Differentiation (D): In differentiation control mode, the output and input error signal differentiation (i.e. the change ratio of error) of controller is in direct ratio. It can forecast the trend of error change with quick response, and improve the dynamic performance of system in the process of regulation.
★ Stable error refers to the difference between the expected output of system and theactual output after system response is stable. See Figure 7-13 for the function of three computing factors in PID control mode. Error Time Output Variables PID Control I Control D Control P Control Figure 7-13 Function of PID Control EM303B PID Control Logic Control logic of internal process PID of EM303B is as shown in Figure 7-14. Through PID close-loop control, an inverse feedback control system is formed between EM303B and control object.
Time C0-22 PID Setting Display Integration Setting F4-10 F4-08 Integral Time Control 1/S Limit PID Setting PID Regulator Positive/Negative F4-05 Range + + Maximum PID Output PID Output F4-00 Setting Control 1 + F4-07 P F4-11/F4-12 F4-06 Gain Control F4-09 S PID Feedback Display C0-23 PID Feedback Figure 7-14 Internal Process PID Control Logic of EM303B Process PID control can form speed PID close-loop control (taking speed as control object) and torque PID close-loop control system (taking torque current as control object). F4-02 111