Professional Documents
Culture Documents
- UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord
Basic Setup Instructions for PID process control using FR-F_A700 Inverter:
Introduction This application note is intended as a Quick start guide and includes typical connections to configure the in built software PID controller in FR-A_F Inverters for use in process control of flow or pressure, controlling the Motor speed using V/F control. Requirements FR-F_A700 Inverter Module. AC 3 phase Induction Motor. Process measurement sensor ( ie flow or pressure). With signal output of either voltage 0-10Vdc or current 4-20mA. DC power supply for above sensor. Typical Connections Connect AC supply and Motor after referring to installation manual. The following diagram shows typical control connections for pid control. The minimum control connections which refer to this application note are highlighted in red.
Title: Keywords:
. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.
Page 1 of 8
Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord
Minimum Parameters Calibrate Drive for Motor Refer to the Motor Nameplate details and in PU mode set the following Parameters Parameter No Pr 9 Pr3 Pr19 Description Set Motor full load current Set Base Frequency Set Base Voltage Default setting Set to Inverter rated output 50Hz Based on Inverter Supply voltage Example 1.84 A Motor Frequency at max volts Motor Voltage at Base Frequency
Title: Keywords:
. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.
Page 2 of 8
Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord
DC injection brake Stop selection Set full menus Parameter write selection
Note: The minimum acceleration time is determined by the Power rating of the Motor and the characteristics of the load. Too short acceleration times will cause Overcurrent trips at the drive. De-accelerating the load too quickly can cause Overvoltage trips. After setting the above parameters carry out a test run to determine the motor rotation direction.
Title: Keywords:
. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.
Page 3 of 8
Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord
Test Run TAKE PRECAUTIONS TO PREVENT ACCIDENTAL CONTACT WITH THE MOTOR SHAFT. In PU mode start the motor using the FWD key on the DU07 Operator module, increase the speed setpoint, check the Motor rotation direction is correct for the application. The Motor can be stopped using the STOP/RESET Key at anytime. If required reverse the direction of the Motor rotation by swapping any two of the three motor cables after isolating the supply for the drive. PID Configuration Parameters After a successful test run we are ready to configure the necessary parameters to implement PID control. Configure the I/O Digital Inputs For minimum connections we only require one digital input which we use to enable the PID loop. In this example this will be connected via the STF input. Therefore the PID will be enabled whenever the drive is started. Any available input can be configured, for this example we will use the RT terminal. Set the following parameter to configure the RT terminal. Parameter No Pr 183 Description RT terminal function Default setting 3 Example Set at 14 to use as PID enable
Digital Outputs Outputs can also be configured to indicate if the PID has saturated at its limits and if the PID is enabled. The configuration of the outputs are not required in this example.
Title: Keywords:
. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.
Page 4 of 8
Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord
PID Control Automatic Switchover When we start the drive we can set a running frequency at which PID control automatically starts and controls after reaching this frequency. PID control continues until the drive is stopped. Parameter No Pr 127 Description PID Control Auto switchover Default setting 9999 Example Set at 25Hz
Title: Keywords:
. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.
Page 5 of 8
Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord
The PID controller is used in closed loop control. Three terms are available which are adjusted to obtain zero steady state error between setpoint and feedback and also good transient response from the control system.
The above parameters are adjusted to achieve a satisfactory response to a system disturbance. During running trials adjust the Gain using PR129 to achieve the fastest rise time in response to a disturbance without overshoot. The lower the value of Pr129 the higher the gain and more overshoot results. Pr130 sets the integral time, the integral term removes steady state error. Therefore with no integral term the measured value would settle at a value below the PID setpoint. Adjust the integral time to remove the steady state error. Both of the above values will interact. Too much gain or to small integral time will result in an unstable response. Derivative control is also available with PID differential time Pr 134. This is not required in this example.
Title: Keywords: . PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop. Page 6 of 8
Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord
Running Trials Adjustment of the PID controller will be required to suit the process. During adjustment it is useful to be able to monitor the PID feedback and deviation (error between setpoint and feedback). Parameter No Pr 52 Description PU main display Default setting 0 Example Set at 52 for PID setpoint 53 for PID feedback 54 for PID error (1000 =0)
In external control, start the drive, by closing STF. Enable the PID controller by closing RT (X14). The Motor will increase speed to the value set in Pr127. At this value the PID should take over. If the feedback is less than the setpoint then the integral action should start to increase the speed of the motor. At this time you can determine if the PID output is in the correct direction. If it is incorrect then stop the drive and set Pr128 to opposite sense 21. Apply a system disturbance and adjust the control loop until you obtain a critical response.
Title: Keywords:
. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.
Page 7 of 8
Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord
Title: Keywords:
. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.
Page 8 of 8