Fuji Bikes 5000G11S/P11S Deviation Time Operation amount, P G a I N, I G a I N, D G a I N

H22	PID control (P-gain)
H23	PID control (I-gain)
H24	PID control (D-gain)

‹These functions are not generally used alone but are combined like P control, PI control, PD control, and PID control.

‹P operation

Operation using an operation amount (output frequency) proportional to deviation is called P operation, which outputs an operation amount proportional to deviation, though it cannot eliminate deviation alone.

Deviation

Time

Operation amount

H 2 2 P - G A I N

Setting range: 0.01 to 10.0 times

P (gain) is the parameter that determines the response level for the deviation of P operation. Although an increase in gain speeds up response, an excessive gain causes vibration, and a decrease in gain delays response.

The value "1" is the P(gain) that is when the maximum frequency 100% at deviation 100%.

Response

Time

‹I operation

An operation where the change speed of the operation amount (output frequency) is proportional to the deviation is called an I operation. An I operation outputs an operation amount as the integral of deviation and, therefore, has the effect of matching the control amount (feedback amount) to the target value (e.g., set frequency), though it deteriorates response for significant changes in deviation.

Deviation Time Operation amount

H 2 3 I - G A I N

Setting range: 0.0 (Inactive), 0.1 to 3600 seconds "H23 I-gain" is used as a parameter to determine the effect of I operation. A longer integration time delays response and weakens resistance to external elements. A shorter integration time speeds up response, but an integration time that is too short causes vibration.

‹D operation

An operation where the operation amount (output frequency) is proportional to the deviation differential is called a D operation, which outputs an operation amount as the deviation differential and, therefore, is capable of responding to sudden changes.

Deviation

Time

Operation amount

H 2 4 D - G A I N

Setting range: 0.00 (Inactive), 0.01 to 10.0 seconds "H24 D-gain" is used as a parameter to determine the effect of a D operation. A longer differentiation time causes vibration by P operation quickly attenuating at the occurrence of deviation. Excessive differentiation time could cause vibration. Shortening the differentiation time reduces attenuation at the occurrence of deviation.

‹PI control

P operation alone does not remove deviation completely. P + I control (where I operation is added to P operation) is normally used to remove the remaining deviation. PI control always operates to eliminate deviation even when the target value is changed or there is a constant

disturbance. When I operation is strengthened, however, the response for rapidly changing deviation deteriorates. P operation can also be used individually for loads containing an integral element.

‹PD control

If deviation occurs under PD control, an operation amount larger than that of D operation alone occurs rapidly and prevents deviation from expanding. For a small deviation, P operation is restricted. When the load contains an integral element, P operation alone may allow responses to vibrate due to the effect of the integral element, in which case PD control is used to attenuate the vibration of P operation and stabilize responses. In other words, this control is applied to loads in processes without a braking function.

‹PID control

PID control combines the P operation, the I operation which removes deviation, and the D operation which

suppresses vibration. This control achieves deviation-free, accurate, and stable responses.

‹Adjusting PID set value

Adjust the PID value while monitoring the response waveform on an oscilloscope or other instrument if possible. Proceed as follows:

-Increase the value of "H22 P-gain" without generating vibration.

-Decrease the value of "H23 I-gain" without generating vibration.

-Increase the value of "H24 D-gain" without generating

vibration.

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