4. ANÁLISIS COMPARATIVO EXPERIENCIAS INTERNACIONALES
4.1. Australia
10 - 00 Input Terminal for PID Feedback
Factory Setting: 00 Settings 00 Inhibit PID operation: external terminals AVI, ACI may be used for
frequency command if required (Pr.02-00).
01 Negative PID feedback from external terminal AVI (0 ~ +10VDC). 02 Negative PID feedback from external terminal ACI (4 ~ 20mA). 03 Positive PID feedback from external terminal AVI (0 ~ +10VDC). 04 Positive PID feedback from external terminal ACI (4 ~ 20mA).
Note that the measured variable (feedback) controls the output frequency (Hz). Select input terminal accordingly. Make sure this parameter setting does not conflict with the setting for Pr.02-00 (Master Frequency).
When Pr.02-00 is set to 01 or 02, the set point (Master Frequency) for PID control is obtained from the AVI/ACI external terminal (0 to +10V or 4-20mA) or from multi-step speed. When Pr.02-00 is set to 00, the set point is obtained from the keypad.
Negative feedback means: +target value - feedback Positive feedback means: -target value + feedback.
10 - 01 Gain Over the PID Detection Value Unit: 0.01
Settings 0.00 to 10.00 Factory Setting: 1.00 This is the gain adjustment over the feedback detection value. Refer to PID control block diagram in Pr.10-06 for detail.
10 - 02 Proportional Gain (P) Unit: 0.01
Settings 0.0 to 10.0 Factory Setting: 1.0
This parameter specifies proportional control and associated gain (P). If the other two gains (I and D) are set to zero, proportional control is the only one effective. With 10% deviation (error) and P=1, the output will be P x10% x Master Frequency.
NOTE
Chapter 5 Parameters|VFD-B Series
Revision July 2008, BE16, SW V4.08 & V5.00 5-97
10 - 03 Integral Gain ( I ) Unit: 0.01
Settings 0.00 to 100.00 sec Factory Setting: 1.00
0.00 Disable
This parameter specifies integral control (continual sum of the deviation) and associated gain (I). When the integral gain is set to 1 and the deviation is fixed, the output is equal to the input (deviation) once the integral time setting is attained.
NOTE
The parameter can be set during operation for easy tuning.
10 - 04 Derivative Control (D) Unit: 0.01
Settings 0.00 to 1.00 sec Factory Setting: 0.00 This parameter specifies derivative control (rate of change of the input) and associated gain (D). With this parameter set to 1, the PID output is equal to differential time x (present deviation − previous deviation). It increases the response speed but it may cause over- compensation.
NOTE
The parameter can be set during operation for easy tuning.
10 - 05 Upper Bound for Integral Control Unit: 1
Settings 00 to 100 % Factory Setting: 100
This parameter defines an upper bound or limit for the integral gain (I) and therefore limits the Master Frequency.
The formula is: Integral upper bound = Maximum Output Frequency (Pr.01-00) x (Pr.10-05). This parameter can limit the Maximum Output Frequency.
10 - 06 Primary Delay Filter Time Unit: 0.1
Settings 0.0 to 2.5 sec Factory Setting: 0.0 To avoid amplification of measurement noise in the controller output, a derivative digital filter is inserted. This filter helps to dampen oscillations.
Chapter 5 Parameters|VFD-B Series
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P
10-02I
10-03D
10-04 10-05 10-01 10-07 10-06 10-00 + - + + + Setpoint Input Freq.Gain PIDfeedback
Integral gain limit Output Freq. Limit Digital filter Freq. Command
10 - 07 PID Output Frequency Limit Unit: 1
Settings 00 to 110 % Factory Setting: 100
This parameter defines the percentage of output frequency limit during the PID control. The formula is Output Frequency Limit = Maximum Output Frequency (Pr.01-00) X Pr.10-07 %. This parameter will limit the Maximum Output Frequency. An overall limit for the output frequency can be set in Pr.01-07.
10 - 08 Feedback Signal Detection Time Unit: 0.1
Settings 0.0 to d 3600.0 sec Factory Setting: 60.0 This parameter defines the time during which the PID feedback must be abnormal before a warning (see Pr.10-09) is given. It also can be modified according to the system feedback signal time.
If this parameter is set to 0.0, the system would not detect any abnormality signal.
10 - 09 Treatment of the Erroneous Feedback Signals (for PID and PG feedback error) Factory Setting: 00 Settings 00 Warning and keep operating
01 Warning and RAMP to stop 02 Warning and COAST to stop
AC motor drive action when the feedback signals (analog PID feedback or PG (encoder) feedback) are abnormal according to Pr.10-16.
10 - 16 Deviation Range of PID Feedback Signal Error Unit: 0.01
Chapter 5 Parameters|VFD-B Series
Revision July 2008, BE16, SW V4.08 & V5.00 5-99
The base is Pr.01-00. When in PID feedback control, if | Source of PID reference target - feedback | > Pr.10-16 and exceeds Pr.10-08 detection time, the AC drive will operate according to Pr.10-09.
10 - 10 PG Pulse Range Unit: 1
Settings 1 ~ 40000 (Max=20000 for 2-pole motor) Factory Setting: 600 A Pulse Generator (PG) or encoder is used as a sensor that provides a feedback signal of the motor speed. This parameter defines the number of pulses for each cycle of the PG control. For PG or encoder feedback an option PG-card is needed.
10 - 11 PG Input
Factory Setting: 00
Settings 00 Disable PG
01 Single phase
02 Forward / Counterclockwise rotation 03 Reverse / Clockwise rotation
The relationship between the motor rotation and PG input is illustrated below:
FWD CCW REV CW PULSE GENERATOR PG 10-11=02 10-11=03
A phase leads B phase A phase A phase A phase B phase B phase B phase CW
B phase leads A phase
10 - 12 ASR (Auto Speed Regulation) control (with PG only) (P) Unit: 0.1
Settings 0.0 to 10.0 Factory Setting: 1.0
This parameter specifies Proportional control and associated gain (P), and is used for speed control with PG (encoder) feedback.
NOTE
Chapter 5 Parameters|VFD-B Series
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10 - 13 ASR (Auto Speed Regulation) control (with PG only) (I) Unit: 0.01 Settings 0.00 to 100.00 Factory Setting: 1.00
0.00 disable
This parameter specifies Integral control and associated gain (I), and is used for speed control with PG (encoder) feedback.
NOTE
The parameter can be set during operation for easy tuning.
10 - 14 Speed Control Output Frequency Limit Unit: 0.01
Settings 0.00 to 100.00 Hz Factory Setting: 10.00 This parameter limits the amount of correction by the PI control on the output frequency when controlling speed via PG (encoder) feedback. It can limit the maximum output frequency.
10 - 15 Sample time for refreshing the content of 210DH and 210EH
Settings 0.01~1.00 seconds Factory Setting: 0.10 When the signal source of feedback control is PG (encoder) and it needs to read the pulse numbers from communication, this parameter can be used to set the refresh time of two communication addresses (210D and 210E).
Speed Control Diagram
10-13
I
P
10-12 10-14 + - + + +Speed Control Diagram Frequency command Speed Detection Output Frequency Limit
Chapter 5 Parameters|VFD-B Series
Revision July 2008, BE16, SW V4.08 & V5.00 5-101
Group 11: Fan and Pump Control Parameters