# Menu 14 − User PID Controller

Mode: Open‑Loop

PID controllers

One general purpose PID controllers is provided as shown in the diagram below. The sample rate for the PID controllers is always 4ms.

Parameter | 14.001 PID1 Output
--- | ---
Short description | Displays the output for PID1
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default |  | Units | %
Type | 16 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT

Controller

The controller section for the PID controllers is shown in the introduction. If the enable is active the PID controller is active even if the destination is not routed to a valid parameter or to 0.000. It should be noted that if either of the enable sources is routed to 0.000 or to a non-valid parameter the source value is taken as 1, therefore with default settings, PID1 Enable Source 1 (14.009) = 0.000 and PID1 Enable Source 2 (14.027) = 0.000, the PID controller can be enabled by simply setting PID1 Enable (14.008).

PID1 Error (14.022) is the difference between the reference and feedback produced by the reference and feedback systems described in the previous sections. The PID controller output is defined as follows:

PID1 Output (14.001) = PID1 Error (14.022) x [Kp + Ki/s + sKd/(0.064s + 1)]

Kp = PID1 Proportional Gain (14.010)

Ki = PID1 Integral Gain (14.011)

Kd = PID1 Differential Gain (14.012)

Therefore:

> 1. If PID1 Error (14.022) = 100.00% the proportional term gives a value of 100.00% if PID1 Proportional Gain (14.010) = 1.000.

> 2. If PID1 Error (14.022) = 100.00% the integral term gives a value that increases linearly by 100.00% per second if PID1 Integral Gain (14.011) = 1.000.

> 3. If PID1 Error (14.022) increases linearly by 100.00% per second the differential term gives a value of 100.00% if PID1 Differential Gain (14.012) = 1.000. (A filter with a time constant of 64ms is provided on the differential gain to reduce the noise produced by this term.)

The output may be limited to a range that is less than the maximum range of PID1 Output (14.001) using PID1 Output Upper Limit (14.013) and PID1 Output Lower Limit (14.014). If PID1 Output Lower Limit (14.014) > PID1 Output Upper Limit (14.013) then the output is held at the value defined by PID1 Output Upper Limit (14.013). If PID1 Symmetrical Limit Enable (14.018) = 1 then the lower limit = -(PID1 Output Upper Limit (14.013)). If the output reaches either of these limits the integral term accumulator is frozen until the output moves away from the limit to prevent integral wind-up. The integral hold function can also be enabled by the user by setting PID1 Integral Hold (14.017) = 1.

PID1 Output Scaling (14.015) can be used to scale the output, which is limited to a range from -100.00% to 100.00% after this function. The output is then added to PID1 Feed-forwards Reference (14.019) and is again limited to the range from -100.00% to 100.00% before being routed to the destination defined by PID1 Destination (14.016).

Parameter | 14.002 PID1 Feed-forwards Reference Source
--- | ---
Short description | Defines the input source for the feed-forwards reference source for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive reset read
Display Format | Standard | Decimal Places | 3
Coding | RW, PT, BU

See PID1 Output (14.001).

Parameter | 14.003 PID1 Reference Source
--- | ---
Short description | Defines the input source for the reference for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive reset read
Display Format | Standard | Decimal Places | 3
Coding | RW, PT, BU

The reference section for the PID controllers is shown in the introduction. The pre-sleep boost control is only included in PID controller 1. The reference sections are always active even if the PID controller itself is disabled or the reference sources are not routed to valid parameters. If a reference source is not a valid parameter or is 0.000 then the value is taken as zero.

The reference PID1 Digital Reference (14.025) is multiplied by PID1 Reference Scaling (14.023) and then limited to +/-100.00%. The reference can then be inverted if required (PID1 Reference Invert (14.005) = 1) and then a slew rate limit is applied with PID1 Reference Slew Rate (14.007). This limits the maximum rate of change so that a change from 0.00 to 100.00% takes the time given in PID1 Reference Slew Rate (14.007).

Parameter | 14.004 PID1 Feedback Source
--- | ---
Short description | Defines the input source for the feedback for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive reset read
Display Format | Standard | Decimal Places | 3
Coding | RW, PT, BU

Feedback

The feedback section for the PID controllers is shown in the introduction. The feedback sections are always active even if the PID controller itself is disabled or the feedback sources are not routed to valid parameters. If a reference source is not a valid parameter or is 0.000 then the value is taken as zero.

The feedback is the sum of the feedback source and the PID1 Digital Feedback (14.026). The result is multiplied by PID1 Feedback Scaling (14.024) and then limited to +/-100.00%. The feedback can be inverted if required (PID1 Feedback Invert (14.006) = 1).

Parameter | 14.005 PID1 Reference Invert
--- | ---
Short description | Set to 1 to invert PID1 reference
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See PID1 Reference Source (14.003).

Parameter | 14.006 PID1 Feedback Invert
--- | ---
Short description | Set to 1 to invert the PID1 feedback
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See PID1 Feedback Source (14.004).

Parameter | 14.007 PID1 Reference Slew Rate
--- | ---
Short description | Defines the rate in change of output for PID1
Mode | Open‑Loop
Minimum | 0.0 | Maximum | 3200.0
Default | 0.0 | Units | s
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

See PID1 Reference Source (14.003).

Parameter | 14.008 PID1 Enable
--- | ---
Short description | Enables the use of PID1
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See PID1 Output (14.001).

Parameter | 14.009 PID1 Enable Source 1
--- | ---
Short description | Defines the input source for enabling PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive reset read
Display Format | Standard | Decimal Places | 3
Coding | RW, PT, BU

See PID1 Output (14.001).

Parameter | 14.010 PID1 Proportional Gain
--- | ---
Short description | Defines the Kp gain used for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 4.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

See PID1 Output (14.001).

Parameter | 14.011 PID1 Integral Gain
--- | ---
Short description | Defines the Ki gain used for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 4.000
Default | 0.500 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

See PID1 Output (14.001).

Parameter | 14.012 PID1 Differential Gain
--- | ---
Short description | Defines the Kd gain used for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 4.000
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW

See PID1 Output (14.001).

Parameter | 14.013 PID1 Output Upper Limit
--- | ---
Short description | Defines the maximum value of the output for PID1
Mode | Open‑Loop
Minimum | 0.00 | Maximum | 100.00
Default | 100.00 | Units | %
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 2
Coding | RW

See PID1 Output (14.001).

Parameter | 14.014 PID1 Output Lower Limit
--- | ---
Short description | Defines the minimum value of the output for PID1
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default | -100.00 | Units | %
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 2
Coding | RW

See PID1 Output (14.001).

Parameter | 14.015 PID1 Output Scaling
--- | ---
Short description | Defines the scaling factor of the output for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 4.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW

See PID1 Output (14.001).

Parameter | 14.016 PID1 Destination
--- | ---
Short description | Defines the output parameter for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive reset read
Display Format | Standard | Decimal Places | 3
Coding | RW, DE, PT, BU

See PID1 Output (14.001).

Parameter | 14.017 PID1 Integral Hold
--- | ---
Short description | Enables the integral hold function for PID1
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See PID1 Output (14.001).

Parameter | 14.018 PID1 Symmetrical Limit Enable
--- | ---
Short description | Enables the symmetrical limit for PID1
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See PID1 Output (14.001).

Parameter | 14.019 PID1 Feed-forwards Reference
--- | ---
Short description | Displays the value of the feed-forwards reference for PID1
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default |  | Units | %
Type | 16 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT

See PID1 Output (14.001).

Parameter | 14.020 PID1 Reference
--- | ---
Short description | Displays the value of the reference for PID1
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default |  | Units | %
Type | 16 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT

See PID1 Reference Source (14.003).

Parameter | 14.021 PID1 Feedback
--- | ---
Short description | Displays the value of the feedback for PID1
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default |  | Units | %
Type | 16 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT

See PID1 Feedback Source (14.004).

Parameter | 14.022 PID1 Error
--- | ---
Short description | Displays the value of the error for PID1
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default |  | Units | %
Type | 16 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT

See PID1 Output (14.001).

Parameter | 14.023 PID1 Reference Scaling
--- | ---
Short description | Defines the scaling factor for the reference for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 4.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW

See PID1 Reference Source (14.003).

Parameter | 14.024 PID1 Feedback Scaling
--- | ---
Short description | Defines the scaling factor of the feedback for PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 4.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW

See PID1 Feedback Source (14.004).

Parameter | 14.025 PID1 Digital Reference
--- | ---
Short description | Defines the value of the digital reference for PID1
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default | 0.00 | Units | %
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 2
Coding | RW

See PID1 Reference Source (14.003).

Parameter | 14.026 PID1 Digital Feedback
--- | ---
Short description | Defines the value of the digital feedback for PID1
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default | 0.00 | Units | %
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 2
Coding | RW

See PID1 Feedback Source (14.004).

Parameter | 14.027 PID1 Enable Source 2
--- | ---
Short description | Defines the input source for enabling PID1
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 59.999
Default | 0.000 | Units |
Type | 16 Bit User Save | Update Rate | Drive reset read
Display Format | Standard | Decimal Places | 3
Coding | RW, PT, BU

See PID1 Output (14.001).