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PID

1. PID제어란?
Goal Target PID control means a control action (SV value, where thegoal level) in order to maintain
Detector, measured at present value (PV value, the current level) andSV (SV value) between two
values ​by comparing the output to eliminate errors (MV value) is the ability to draw.

Eventually, the output value (MV value) passed to the analog output module can operate the
pump with PID control
①PV value (flow) and AD
Via modules input tray.

② PID연산 ③ The value of MV DA module


SV-PV = ERR Through the bin.
ERR = 0 되도록
MV 값 도출

XBO-AH02A

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2. XGT PID 특징

(1) precise control operation is possible.


(2) The maximum period of 10 ms and has a fast operation.
(3) can control the maximum 16Loop
(4) Forward and reverse processes are supported.
(5) XG5000 through the Trend Monitor control status can be monitored using the convenient Loop.
(6) PV by limiting the maximum change to protect the system.
(7) MV the maximum variation, maximum and minimum limits to protect the actuator through.
(8) Auto-tuning (Auto-tuning) function can be controlled by a PID.
(9) cascade PID control is possible.

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PID
3. XGB PID Specification

Function Contents
Control ropes 16 independent control loops

Control actions
P control, PI control, PD control, PID control

The control period 10ms ~ 6,553.5ms (설정 단위 : 0.1ms)

Forward / Revers
Dead Band based on target to automatically control the change of direction is greater than
e mixed control
By setting a loop and Slave Maste SVr control loop to improve the precision of the serial connec
Cascade
tion

SV Ramp The slope of the change in SV and prevent a multitude of rapidly changing according to the load

부 MV upper / lower, PV upper / lower, PV byeonhwapok further controla variety of alarm increase
가 d stability
Alarm


Auto-tuning
Improved through auto-tuning algorithm provides automatic tuning function

Other add-ons
PWM출력, PV Tracking, ∆MV, ∆PV 등의 다양한 부가기능 제공

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4. PID Parameters and calculation formulas

필수 작성 Parameter

SV: Set Value, subject to the control you need to reach the MV : PID Value of the result of
goal state PID the operation.
(Usually wtterin at Touch Screen)PV : Process The
Value, the current control state of the target, resuls
(Rated input from the analog module)MV_Max
MV as a result of the analog
Limits: Must Change (default 0 -> 16000) output
K_p (Kp): Set the proportional coefficient Pass or PWM output.
T_i (Ti): Set the integral time constant
T_d (Td): Derivative time constant (Option)

Kp:
Proportional coefficient (proportional)
PID Math formulas 의
Ti: Integral coefficient (inverse)
Td: differential coefficient (proportional)
PID control is required 미
for understanding Integral: remove the residual variance
Differential:
PV's instantaneous response to
changes in

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PID
4. Training program (Program Preparation before writing)

1. Male new Program 2. I/O Information

3. I/O Sync 4. I/O Parameter 확인

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5. AD, DA Module Enable 7. U Device 확인

6. AD, DA module을 사용
하기 위한 U Device 등록

8. DA output Enable (필수)

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5 Training program

글로벌 직접 변수> 플래그 종류> PID를 선택하면 PID플래그가 아래와 같이 화면에 표시됩니다.

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4. Training program

Full (A) to release the information displayed is 0 blocks 0 loop


only

Monitor the required parameters from the six flags


entry in a register.
In addition, the resulting MV and PV input monitor to
register awindow.
How do I register with your mouse and select the
appropriate flagand drag and drop.

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PID
4. Training program

For driving on the


left PIDRUN PID function
block, the block number, and
then, after the loop execution
condition is ON, enter the
numberwhen it starts PID
operation.

MV output value of PID


operation results, and
consequently the value
of MV DA module to the input
of the PID control is when you
pass

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PID
4. 프로그램 실습

P값에 따른 출력값(MV)

P값 PV SV MV

1 850

2 0 1000 1700

3 2550

In a real system of values ​as


a result of MV PV
values ​are closer to
the rising value
of the SV will be smaller value
s ​of MV.

MV=Kp×(SV-PV) ×0.85

P has a control value and variation over time when in comes to be *XGK & XGI
To overcome this I should be used.
In addition, in order to respond quickly to sudden disturbancesEnabled D values​​.
MV=Kp×(SV-PV)
P-value: 大, I value: 小, D Value: 大 => MV values ​rise
P-value: 小, I value: 大, D Value: 小 => MV values ​rise

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4. Training program

Monitor the
exercise was registered
Changes in the values ​of the
parameters
Program, the actual
available
Will be written in
SV, P, I, D, while changing
the value of
MV values ​to
practice change
Is The actual PID Demo Kit
Even if the PID function to
determine
Is available for testing.

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4. AUTOTUNING
Autotuning feature user-friendly nature of the system close to the P, I, D is the ability to find the parameter value.
To use the Autotuning function AT_HYS AT_SV and after setting the parameters of
the two when Autotuning execution after the prescribed course of P, I, D parameter values ​will search.

AUTOTUNING action program (% MX2 ON when autotuningautomatically terminate after the completion of P, I,
D values ​automatically registered.)

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