PID for Trim Control
GPD515/G5 Software Option (VSG112052)
Part Number: CIMR-G5MXXXXXF-012 (1)
With this factory-installed FLASH software, the |
Specifications: |
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GPD515/G5 has the ability to “trim” a speed reference |
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Available for All GPD515/G5 drives |
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with a PID (Proportional, Integral, Differential) control |
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3 Different PID Modes: |
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algorithm. This software provides the ability to set a |
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PID output only |
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speed reference, then add or subtract from that speed |
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PID + Line Speed |
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reference according to a feedback device (dancer, |
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PID + Line Speed with accel/decel timer |
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position transducer, pressure transducer, etc.). |
Digital or Analog Setpoint |
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Inverted PID Output Available |
When this software is loaded in a drive, that drive looses |
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Integral Reset Available |
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the ability to run in reverse to satisfy the PID loop |
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Integral Hold Available |
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(Parameter B5-11 is gone). |
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Control Modes: Open Loop Vector, |
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This document is an addendum to Technical Manual |
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Flux Vector & V//F |
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Serial Communications: Modbus (Enhanced), |
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TM4515, listing the effect of this software on the |
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DeviceNet, Profibus, Modbus Plus. |
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parameters in the drive and function descriptions in the |
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manual. |
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(1) ZZZZ refers to the base Model Number of the drive in which the software is installed.
Date: 07/01/04, Rev: 04-07 |
Page 1 of 12 |
TM.G5SW.012 |
PID For Trim Control This section replaces section 5.36 (2)
The Proportional, Integral and Derivative control function provides closed-loop control, or regulation of a system process variable (dancer position, pressure, temperature, etc.). This regulation is accomplished by comparing a feedback signal to a setpoint reference, which results in an error signal. The PID control algorithm then performs calculations, based upon the PID parameter settings (b5-01 thru b5-12), on this error signal. The result of the PID algorithm is then used as the new speed reference, or to trim the existing speed reference.
5.36A. b5-01: PID Selection |
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Factory Setting: 0 |
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Range: 0, 1, 2, 3 |
Using this parameter, PID control can be enabled, and the type of PID control can be selected.
Setting |
Description |
0PID Disabled
1PID Enabled (Output Only) - PID output becomes the output frequency
2PID Enabled (Output + Reference) - PID output “trims” the frequency reference
3PID Enabled (Output + Reference, with accel / decel timer) - PID output “trims” the frequency reference
•If b5-01 is set to 0, no PID function will occur.
•If b5-01 is set to 1, the frequency reference the drive will use will come from the PID control only.
•If b5-01 is set to 2, the frequency reference the drive will use will be the actual frequency reference (Terminal 13 or d1-01 thru d1-09) plus the output of the PID control. This mode could be used to perform a line speed with dancer trim function.
•If b5-01 is set to 3, the frequency reference the drive will use will be the actual frequency reference (Terminal 13 or d1-01 thru d1-09) plus the output of the PID control. In addition, the accel/decel ramps will change to the settings in C1-07 & C1-08 after the time specified in b5-08. See description of b5-08 for more details.
5.36B. Line Speed / Frequency Reference Selection
Refer to Section 5.25 - Local/Remote and Reference Selection (2) in order to select the line speed. NOTE: In Section 5.25, the “Auto” speed reference is terminal 13. The “Manual” speed reference is terminal 16, and the “Memory Data” refers to speed reference parameters d1-01 thru d1-09.
5.36C. PID Setpoint Selection |
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b5-07: Position Offset |
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Factory Setting: 0.00 |
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Range: -10.00 to +10.00V |
H3-05: Multi-function Analog Input 1 |
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Factory Setting: 0 |
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Selection (Terminal 16) |
Range: 0 - 21 |
H3-09: Multi-function Analog Input 2 |
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Factory Setting: 1F |
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Selection (Terminal 14) |
Range: 0 - 21 |
Select the PID control Setpoint Reference from either the internal digital setting b5-07, or from an analog input (Terminal 16 or 14). Note: If both a digital and an analog setpoint reference are used simultaneously, the two will add together.
•Voltage signal (0 -10 VDC) Terminal 16: Set H3-05 to data “20” and H3-04 to data “0”.
•Voltage signal (-10 to +10 VDC) Terminal 16: Set H3-05 to data “20” and H3-04 to data “1”.
•Current signal (4 to 20 mA) Terminal 14: Set H3-09 to data “20” and H3-08 to data “2”.
•Voltage signal (3) (0 -10 VDC) Terminal 14: Set H3-09 to data “20” and H3-04 to data “0”.
•Voltage signal (3) (-10 to +10 VDC) Terminal 14: Set H3-09 to data “20” and H3-04 to data “1”.
(2)GPD515/G5 Technical Manual TM4515.
(3)See note 3 on next page.
Date: 07/01/04, Rev: 04-07 |
Page 2 of 12 |
TM.G5SW.012 |
5.36D. Feedback Signal Selection |
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H3-05: Multi-function Analog Input 1 |
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Factory Setting: 0 |
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Selection (Terminal 16) |
Range: 0 - 21 |
H3-09: Multi-function Analog Input 2 |
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Factory Setting: 1F |
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Selection (Terminal 14) |
Range: 0 - 21 |
Select the PID control Feedback Signal from external Terminal 14 or 16. |
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•Voltage signal (0 -10 VDC) Terminal 16: Set H3-05 to data “B” and H3-04 to data “0”.
•Voltage signal (-10 to +10 VDC) Terminal 16: Set H3-05 to data “B” and H3-04 to data “1”.
•Current signal (4 to 20 mA) Terminal 14: Set H3-09 to data “B” and H3-08 to data “2”.
•Voltage signal (3) (0 -10 VDC) Terminal 14: Set H3-09 to data “B” and H3-04 to data “0”.
•Voltage signal (3) (-10 to +10 VDC) Terminal 14: Set H3-09 to data “B” and H3-04 to data “1”.
(3) In order to utilize Terminal 14 as a voltage input, a wire jumper needs to be cut on the main control board. With the input power removed from the drive and the charge light out, use a small wire cutter to clip the wire labeled J1.
5.36E. PID Settings |
Jumper J1 Location |
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b5-02: Proportional Gain |
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Factory Setting: 1.00 |
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Range: 0.00 - 25.00 |
Proportional gain is the value by which the error signal is multiplied to generate a new PID controller output.
b5-03: Integral Time |
Factory Setting: 1.0 |
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Range: 0.0 - 360.0 seconds |
This parameter determines how fast the PID controller will seek to eliminate any steady-state error. The smaller the setting, the faster the error will be eliminated. To eliminate the integral function entirely, set this parameter to 0.0 seconds.
b5-04: Integral Limit |
Factory Setting: 100 |
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Range: 0.0 - 100.0 |
This parameter will limit the effect that the integrator can have. It works whether the PID controller output is positive or negative. It can also be used to prevent integrator “wind-up”.
Date: 07/01/04, Rev: 04-07 |
Page 3 of 12 |
TM.G5SW.012 |
b5-05: Differential Time |
Factory Setting: 0.00 |
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Range: 0.00-10.00 seconds |
The differential time can be adjusted to increase system response to fast load or reference changes, and to reduce overshoot upon startup. To eliminate the differential function entirely, set this parameter to 0.00 seconds.
b5-06: PID Output Limit |
Factory Setting: 100.00 |
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Range: 0.00 - 100.00 |
This parameter can be used to set the maximum effect of the PID controller will have on the system. This works whether the PID controller output is positive or negative. NOTE: When the PID output limit is reached, the integrator will hold and not increase in value until the PID output is less than the PID output limit.
b5-08: Accel/Decel Switching Delay |
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Factory Setting: 0.00 |
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Range: 0.00-10.00 seconds |
This parameter sets the amount of time after achieving set speed when the accel/decel ramps will switch between their present settings and Accel/Decel 4 (C1-07 & C1-08). When a stop command is given, the Accel/Decel ramps will revert to Accel 1 / Decel 1. This feature is only effective when b5-01 = 3.
Timing Chart of Output + Reference, With accel / decel timer (b5-01 = 3)
b5-09: PID Output Select |
Factory Setting: 0 |
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Range: 0, 1 |
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This parameter determines whether the output of the PID controller will be added to or subtracted from the frequency reference (only when b5-01 = 2 or 3).
Setting
0
Not Inverted
1
Inverted
Date: 07/01/04, Rev: 04-07 |
Page 4 of 12 |
TM.G5SW.012 |
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