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06/2010
Raleigh, NC, USA
Data Bulletin
Overview
Requirements
Software
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PID Terminology
Introduction
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Figure 1:
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The ideal way to test the PI loop is to pick an output frequency for the drive
and have the system home-in on that frequency. For example, pick a
desired output frequency, such as 30 Hz, and have the drive achieve that
frequency using the PI loop. This is accomplished by the PLC test program
implementing its own PI loop using a frequency setpoint and drive output
frequency as the process variable.
Ideally, use another PI in the test PLC to force a desired output frequency.
This will test the PI loop of the drive controller and verify the response over
some period of time. This is accomplished by:
To analyze the PI loop of the Altivar drive, the test PLC activates its
own internal PI control.
The test PLC PI control takes the output frequency of the drive as its
process variable. Setpoint for the output frequency is part of the iterative
test, so several different frequencies could be used.
Output from the test PLC PI control is temperature, which is sent out
through a 420 mA signal to the Altivar drive. This is simulating the
ambient temperature.
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The ambient temperature simulated by the test PLC is dictated by the output
frequency of the drive during PI loop testing. Figure 2 shows the test PLC
program in Unity programming software.
Figure 2:
The test PLC program may appear as two PI controllers wrestling for control
of the system. There are a couple of points to remember when using this
testing methodology:
One of the PI systems must have a slower response time. Begin with a
factor of 10. One of the PI controllers, the test PLC in this example, must
have its gains adjusted to be approximately a factor of 10 less than the
other. The test PLC proportional gain for this example was set at 0.4
while the Altivar 71 drive was set at 10.
If the response time of the two systems are set too close they will
compete against each other for control. In this example, it manifested as
the drive output frequency searching until either the desired output
frequency was reached or the test failed because the PLC PI controller
won the battle.
Acceleration and deceleration values within the drive can cause PI error
values to significantly increase if the response is set too high.
PID blocks have other settings, such as, integral and derivative timing.
Ensure the meaning of these values is understood as they can have an
impact on the performance of the PID loop.
The two systems must be calibrated to each other. In this example, the
temperature values simply have to be very close to derive test benefits.
Altivar is a registered trademark of Schneider Electric. Other trademarks used herein are the
property of their respective owners.
Electrical equipment should be installed, operated, serviced, and maintained only by qualified
personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
the use of this material.