Scribd
Upload
321 views3 pages

LE3U PLC Analog and PID

This document provides instructions for analog input and output, PID operation, and PID parameter tuning for a PLC. It describes: 1) How to read analog input values and write values to analog outputs using commands specifying the module and channel numbers. 2) How PID control uses registers to specify setpoint, current, and PID values including coefficients, limits, and algorithm type. 3) Guidelines for initially setting the proportional, integral, and differential coefficients to achieve stable control without oscillation, and then fine-tuning the PID parameters.

Uploaded by

splinter inc
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
321 views3 pages

LE3U PLC Analog and PID

This document provides instructions for analog input and output, PID operation, and PID parameter tuning for a PLC. It describes: 1) How to read analog input values and write values to analog outputs using commands specifying the module and channel numbers. 2) How PID control uses registers to specify setpoint, current, and PID values including coefficients, limits, and algorithm type. 3) Guidelines for initially setting the proportional, integral, and differential coefficients to achieve stable control without oscillation, and then fine-tuning the PID parameters.

Uploaded by

splinter inc
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 3

LE3U Plc Analog and PID

1. Descript ion of analog input and out put of PLC:

1. Analog reading command:

Reading inst ruct ion of analog input value of analog module


M1: module number, host is set t o K0
M2: analog input channel number K0-K5 (corresponding t o AI 1-6)
D: T he inst ant aneous value of t he read dat a is saved t o D0, and t he value read f rom
t he analog module is saved.

2. Analog out put command:

Inst ruct ion f or writ ing a digit al value t o an analog module


M1: module number, host is set t o K0
M2: analog input channel number K0-K1
D: Writ e dat a Specif y t he value t o be writ t en t o t he analog module (0-4095)

3. Descript ion of PLC's PID operat ion inst ruct ions:

T his inst ruct ion is used f or t he PID calculat ion program f or PID cont rol.
S1: t he set t arget value;
S2: current value (ret urned value);
S3: PID cont rol paramet er, occupying 10 consecut ive D regist ers st art ing f rom S3. S3 is
t he PID channel number; S3+1 is T he proport ional coefficient kp; S3+2 is t he int egral
t ime ki; S3+3 is t he diff erent ial t ime kd; S3+4 is t he t hreshold of t he error. When t he
value is less t han t his value, t he PID adjust ment is not perf ormed, and t he f requent
adjust ment causes t he oscillat ion t o be avoided when t he error is small; +5 Out put
upper limit value PMAX; S3+6 out put lower limit value PMIN; S3+7 is 0 is posit ion t ype
PID, 1 is increment al PID; S3+8 is st andby; S3+9 is int egral calculat ion t hreshold, only
When t he error is less t han t his value, PID is added t o t he int egral calculat ion. If it is
great er t han t his value, t i is 0; D: cont rol value out put ;

3. Posit ional PID algorit hm:


T i=kp/ki;
D150=kp*error0+t i*errorsum+kp*kd*(error0-error1);
Error1=error0;
Not e: errorsum is t he cumulat ive value of PLC int ernal variable error; error0 current error,
PLC int ernal variable;
Error1 previous error, PLC int ernal variable;

4. Increment al PID algorit hm:

T he above △u(k) is t he cont rol quant it y increment , and t he "increment al PID" is direct ly
cont rolled by t his increment .
Not e: e(k) is t he current error value of PLC int ernal variable; e(k-1) last error, PLC
int ernal variable; e(k-2) earliest error, PLC int ernal variable;

5, PID parameter setting instructions:

1. T he proport ional coefficient Kp is used t o speed up t he response of t he syst em and


improve t he adjust ment accuracy of t he syst em. T he larger t he Kp, t he f ast er t he
response of t he syst em, t he higher t he adjust ment accuracy of t he syst em, but t he
diff erence is likely t o occur, and t he syst em may be unst able. If t he value of Kp is t oo
small, t he adjust ment accuracy will be lowered, t he response speed will be slow, and t he
adjust ment t ime will be prolonged, which is t he st at ic and dynamic charact erist ics of
t he syst em.

2. T he int egral act ion coefficient Ki is used t o eliminat e t he st eady st at e error of t he


syst em. T he smaller t he Ki is, t he f ast er t he st at ic error of t he syst em is eliminat ed,
but t he Ki is t oo small, and t he int egral sat urat ion occurs in t he init ial st age of t he
response process, causing a large overshoot of t he response process. If Ki is t oo large,
it will make t he syst em st at ic error difficult t o eliminat e, aff ect ing t he adjust ment
accuracy of t he syst em;

3. T he diff erent ial coefficient Kd is t o improve t he dynamic charact erist ics of t he


syst em. It s f unct ion is mainly t o suppress t he variat ion of t he deviat ion in any direct ion
during t he response process, and predict t he deviat ion in advance. However, if kd is t oo
large, t he response process will be pre-braking, which will prolong t he adjust ment t ime
and reduce t he ant i-int erf erence of t he syst em.

6, PID parameter adjustment experience:


T here are many met hods f or PID cont roller paramet er select ion, such as t rial and error
met hod, crit ical proport ional met hod, and ext ended crit ical scale met hod. However, f or
PID cont rol, t he choice of paramet ers is always a very t edious t ask, and it needs
const ant adjust ment t o get a sat isf act ory cont rol eff ect . Based on experience, t he
general PID paramet ers are det ermined as f ollows:

(1) Determine the scale f actor Kp

When det ermining t he proport ional coefficient Kp, first remove t he int egral t erm and t he
derivat ive t erm of t he PID, and let T i=0 and T d=0 make it a pure proport ional
adjust ment . T he input set t ing is 60%~70% of t he maximum allowable out put of t he
syst em. T he proport ional coefficient Kp gradually increases f rom 0 unt il t he syst em
oscillat es. Conversely, t he proport ional coefficient Kp decreases gradually f rom t his t ime
unt il t he syst em oscillat ion disappears. Record t he proport ional coefficient Kp at t his
t ime and set t he proport ional coefficient Kp of t he PID t o 60%~70% of t he current
value.

(2) Determine the integral time constant Ti

Af t er t he scaling f act or Kp is det ermined, set a larger int egral t ime const ant T i, t hen
gradually decrease T i unt il t he syst em oscillat es, and t hen, in t urn, gradually increase T i
unt il t he syst em oscillat ion disappears. Record at t his t ime
T i, set t he int egral t ime const ant of t he PID T i t o be 150%~180% of t he current value.

(3) Determine the diff erential time constant Td

T he diff erent ial t ime const ant T d is generally not set and is 0. At t his t ime, t he PID
adjust ment is convert ed t o PI adjust ment . If you need t o set it , it is t he same as t he
met hod of det ermining Kp, t aking 30% of it s value when it is not oscillat ing.

(4) System no-load, on-load joint adjustment

Fine-t une t he PID paramet ers unt il t he perf ormance requirement s are met .

www.lollet t e.com

You might also like