Specifications

Comfort Reference Value – 5th Generation of STÖBER Inverters STÖBER
ANTRIEBSTECHNIK
6. Available Reference Values
KSW-43
How to parameterize the PID
controller …
Figure 6-22 shows the structure of the PID controller. The PID controller is parameterized
on page 3.6.2 of the Assistant. You can access the page by changing to the page in the
Assistant or clicking on the icon for the PID controller on page 3.6.1.
Proceed as described below:
• Set the global gain in the parameter G00 (loop gain).
• The P-portion is determined by the parameter G06. G18 will give you a feedback
message of this controller path during online operation.
• Calculation of the I-portion is parameterized in G02. In certain situations such as PID
initialization or reaching the PID controller limits, the I-portion is set to values other than
those calculated with G02 (for details, see next few sections). The current I-portion can
be read in G19 during online operation.
• Enter the time constant G07 in the D path for smoothing the control error. The
calculation of the D-portion is parameterized in the parameter G03.
• Set the controller limits in G08 and G09. The result of the addition of the P, I and D-
portion is limited to these values. Additional information on control operation follows on
the next page.
Figure 6-22 PID controller
Additional information on the
PID controller
The PID controller has three states:
1. Deactivated – output permanently set to "zero"
2. Control mode
3. Initialization
How to deactivate the PID
controller …
When the PID controller is deactivated the PID output is set to zero. There are two cases
in which the output is set to zero:
• The enable of the device control A900 is inactive.
• The binary signal whose source you set in G101 on page 3.6.1 of the Assistant (Figure
6-23), is active. The PID value continues to be calculated with this signal is active.
A rising edge of A900 or a falling edge of the selected binary signal enables the output of
the PID controller again. The I-portion is forced to the value of G13. If this initial value
cannot be used for the application various other settings are available for the starting
value. Also read about initializing the PID controller in the next few sections.
0
G06
G02 G00
G07 G03
G19
G18
P
I
PID
D
PID contr.
Kd
PID-off
(
Source selection G101
)
PID control
errror
D-portion
PID
I-portion
PID
P-portion
I-portion
P-portion
PID contr.
K
p
2
PID contr.
Ki
PID contr.
low pass
D-portion
Loop gain
Control
error
Calculation
depends on
PID mode and
PID limits
(G08, G09)