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7.4.12 PID – Proportional, Integral and Derivative Control
PID instruction will compare a process current value to a set-point variable. The
difference or error between these two values is processed through a
generate an output value that will make the correction process of the current value,
always trying to keep this value as close as possible to the set-point value. CLICK- 02
has 15 MD instructions, seeing that each instruction uses 9 parameters for configuration,
as shown in the table below:
On the CLIC02 display, or in the programming tool, the PID function will be shown as follows:
The formula used will be the following:
The variable Plxx will contain the output result of the processed formula, where xx is the
number of the used PID function. The error output will turn on when -S ou KP is 0, turning
off automatically when the error is adjusted or when the PID function is disabled.
Símbolo
(1) The Set-Points can be constant or current values of
any other function.
②③⑨
⑤④ ①
EV
= SV - PV
n
n
T
{
S
ΔPI
= K
(EV
- EV
) +
P
n
n-1
T
I
T
D
D
=
(2PV
- PV
- PV
n
n-1
n
T
S
PI =
∑Δ PI
- English -
Ladder Logic Programming
Descrição
Function number: PI01 ~ PI0F
Output current value
SP
- Set-Point
(1)
Pv
- Process current value
(1)
Ts
- Sampling period (1~32767 * 0,01s)
(1)
Kp
- Proportional gain (1~32767 %)
(1)
Ti
- Integral time (1~32767 * 0,1s)
(1)
Td
- Derivative time (1~32767 * 0,01s)
(1)
Output error
⑥
⑧⑦
}
+ EV
+ D
n
n
)
n-2
PID control
to
CLIC-02 | 109
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