ALL ABOUT PID Control and Parameter in Delta PLC - ISPSoft English / Омӯзиши PID Control бо ISPSoft

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Preface:
Proportional-integral-derivative controller (PID controller) is widely applied in the field of engineering. It has been
presented for nearly sixty years. It is a main technical tool used in industrial control systems because its structure is
simple, it is stable and reliable, and it can be easily adjusted.
Purpose:
If users use PID control for the first time, they may not be familiar with the characteristics of the PID control. The
document helps users understand the principle and the usage of PID control.
Operands:
S1: Set value (SV); S2: Present value (PV); S3: Parameter (Twenty consecutive devices will be occupied if the 16-bit
instruction is used. Twenty-one devices will be used if the 32-bit instruction is used.); D: Output value (MV)
PID algorithm:
(1) S3+4 is K0/K1/K2/K5.
 Automatic control, forward control or reverse control is used. Forward/Reverse control is designated by S3+4.
Other settings relevant to a PID algorithm are set by the registers designated by S3~S3+5.
PID algorithm:
MV=Kp*E(t)+Ki*E(t)*1/S+Kd*PV(t)S
PV(t)S is the derivative value of PV(t) , and E(t)*1/S is the integral value of . If is less than 0 as
forward control or reverse control is selected, will be regarded as “0".
escriptions of symbols:
MV : Output value
KP : Proportional gain
E( t) : Error
PV : Present value
SV : Target value
KD : Derivative gain
PV( t )S : Derivative value of PV( t)
KI : Integral gain
E( t)1/S : Integral value of ( ) tE