第1页 / 共116页
第2页 / 共116页
第3页 / 共116页
第4页 / 共116页
第5页 / 共116页
第6页 / 共116页
第7页 / 共116页
第8页 / 共116页
QCPU(Q Mode)~QnACPU Programming Manual (PID Control Instructions).pdf
SAFETY CAUTIONS
REVISIONS
INTRODUCTION
CONTENTS
About Manuals
Generic Terms and Abbreviations Used in This Manual
1. GENERAL DESCRIPTION
1.1 PID Processing Method
2. SYSTEM CONFIGURATION FOR PID CONTROL
2.1 Applicable PLC CPU
3. PID CONTROL SPECIFICATIONS
3.1 PID Control by complete derivative
3.1.1 Performance specifications
3.1.2 PID operation block diagram and operation expressions
3.1.3 PID Control Instruction List
3.2 PID Control by Incomplete derivative
3.2.1 Performance specifications
3.2.2 PID operation block diagram and operation expressions
3.2.3 PID Control Instruction List
4. FUNCTIONS OF PID CONTROL
4.1 Outline of PID Control
4.2 Functions of PID Control
4.2.1 Operation method
4.2.2 Forward operation and reverse operation
4.2.3 Proportional operation (P operation)
4.2.4 Integral operation (I operation)
4.2.5 Derivative operation (D operation)
4.2.6 PID operation
4.3 Other Functions
4.3.1 Bumpless changeover function
4.3.2 MV upper/lower limit control function
4.3.3 Monitoring PID control with the AD57(S1) (QnACPU only)
4.3.4 Function for transfer to the SV storage device for the PV in manual mode
4.3.5 Changing the PID Control Data or I/O Data Setting Range (Basic model QCPU, High Performance model QCPU only)
5. PID CONTROL PROCEDURE
5.1 PID Control Data
5.1.1 Number of loops to be used and the number of loops to be executed in a single scan
5.1.2 Sampling cycle
5.2 I/O Data
6. PID CONTROL INSTRUCTIONS
7. HOW TO READ EXPLANATIONS FOR INSTRUCTIONS
8. COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES
8.1 PID Control Instructions
8.1.1 PID Control Data Settings
8.1.2 PID Control
8.1.3 Monitoring PID Control Status (QnACPU only)
8.1.4 Operation Stop/Start of Designated Loop No.
8.1.5 Parameter Change at Designated Loop
8.2 PID CONTROL PROGRAM EXAMPLES (Basic model QCPU, High Performance model QCPU only)
8.2.1 System Configuration for Program Examples
8.2.2 Program Example for Automatic Mode PID Control
8.2.3 Program Example for Changing the PID Control Mode between Automatic and Manual
8.3 PID CONTROL PROGRAM EXAMPLES (QnACPU only)
8.3.1 System Configuration for Program Examples
8.3.2 Program Example for Automatic Mode PID Control
8.3.3 Program Example for Changing the PID Control Mode between Automatic and Manual
9. INCOMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES
9.1 PID Control Instructions
9.1.1 PID Control Data Settings
9.1.2 PID Operation
9.1.3 Operation Stop/Start of Designated Loop No.
9.1.4 Parameter Change at Designated Loop
9.2 PID CONTROL PROGRAM EXAMPLES
9.2.1 System Configuration for Program Examples
9.2.2 Program Example for Automatic Mode PID Control
9.2.3 Program Example for Changing the PID Control Mode between Automatic and Manual
APPENDIX
APPENDIX 1 PROCESSING TIME LIST
Appendix 2 Anti-Reset Windup Measure
WARRANTY
INDEX MENU
QCPU(Q Mode)/QnACPU
Programming Manual
(PID Control Instructions)
Mitsubishi Programmable
Logic Controller
• SAFETY CAUTIONS •
(You must read these cautions before using the product)
In connection with the use of this product, in addition to carefully reading both this manual and the related
manuals indicated in this manual, it is also essential to pay due attention to safety and handle the product
correctly.
The safety cautions given here apply to this product in isolation. For information on the safety of the PLC
system as a whole, refer to the CPU module User's Manual.
Store this manual carefully in a place where it is accessible for reference whenever necessary, and
forward a copy of the manual to the end user.
A - 1
REVISIONS
* The manual number is given on the bottom left of the back cover.
* Manual Number
Print Date
Dec., 1999 SH (NA) 080040-A First edition
Jun., 2001 SH (NA) 080040-B Partial addition
Revision
About Manuals, Chapter 1, Chapter 2, Section 2.1, 3.1, 3.2, 3.3, 3.3.1,
4.2.3, 4.3.2, 4.3.5, Chapter 5, Section 5.1, 5.2, Chapter 6, Chapter 7,
Section 8.1, 8.2
Apr., 2002 SH (NA) 080040-C Correction
Jan., 2003 SH (NA) 080040-D Addition of use of Basic model QCPU
Chapter 1, Chapter 7, Section 8.1, 8.2, 8.3, 8.4, 8.5
Addition of explanation of incomplete derivative
Overall reexamination
Japanese Manual Version SH-080022-C
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
1999 MITSUBISHI ELECTRIC CORPORATION
A - 2
INTRODUCTION
Thank you for choosing the Mitsubishi MELSEC-Q/QnA Series of Programmable Logic Controllers.
Please read this manual carefully so that the equipment is used to its optimum. A copy of this manual should
be forwarded to the end User.
CONTENTS
1. GENERAL DESCRIPTION
1 – 1 to 1 - 2
1.1 PID Processing Method........................................................................................................................... 1 - 2
2. SYSTEM CONFIGURATION FOR PID CONTROL
2 - 1 to 2 - 2
2.1 Applicable PLC CPU................................................................................................................................ 2 - 2
3. PID CONTROL SPECIFICATIONS
3 - 1 to 3 - 14
3.1 PID Control by complete derivative ......................................................................................................... 3 - 1
3.1.1 Performance specifications............................................................................................................... 3 - 1
3.1.2 PID operation block diagram and operation expressions................................................................ 3 - 2
3.1.3 PID Control Instruction List ............................................................................................................... 3 - 3
3.2 PID Control by Incomplete derivative...................................................................................................... 3 - 8
3.2.1 Performance specifications............................................................................................................... 3 - 8
3.2.2 PID operation block diagram and operation expressions................................................................ 3 - 9
3.2.3 PID Control Instruction List .............................................................................................................3 - 10
4. FUNCTIONS OF PID CONTROL
4 - 1 to 4 - 14
4.1 Outline of PID Control.............................................................................................................................. 4 - 1
4.2 Functions of PID Control.......................................................................................................................... 4 - 2
4.2.1 Operation method.............................................................................................................................. 4 - 2
4.2.2 Forward operation and reverse operation ........................................................................................ 4 - 2
4.2.3 Proportionate operation (P operation) .............................................................................................. 4 - 4
4.2.4 Integrating operation (I operation) .................................................................................................... 4 - 5
4.2.5 Differentiating operation (D operation) ............................................................................................. 4 - 6
4.2.6 PID operation..................................................................................................................................... 4 - 8
4.3 Other Functions........................................................................................................................................ 4 - 9
4.3.1 Bumpless changeover function......................................................................................................... 4 - 9
4.3.2 MV higher/lower limit control function.............................................................................................4 - 10
4.3.3 Monitorning PID control with the AD57(S1) (QnACPU only).........................................................4 - 11
4.3.4 Function for transfer to the SV storage device for the PV in manual mode..................................4 - 12
4.3.5 Changing the PID Control Data or input/output Data Setting Range
(High Performance model QCPU Only) .........................................................................................4 - 13
5. PID CONTROL PROCEDURE
5 - 1 to 5 - 22
5.1 PID Control Data...................................................................................................................................... 5 - 4
5.1.1 Number of loops to be used and the number of loops to be executed in a single scan...............5 - 13
5.1.2 Sampling cycle ................................................................................................................................5 - 14
5.2 I/O Data ..................................................................................................................................................5 - 16
A - 3
6. PID CONTROL INSTRUCTIONS
7. HOW TO READ EXPLANATIONS FOR INSTRUCTIONS
6 - 1 to 6 - 2
7 - 1 to 7 - 2
8. COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 8 - 1 to 8 - 28
8.1 PID Control Instructions............................................ .............................................................................. 8 - 2
8.1.1 PID Control Data Settings................................................................................................................. 8 - 2
8.1.2 PID Control ........................................................................................................................................ 8 - 3
8.1.3 Monitoring PID Control Status (QnACPU only)................................................................................ 8 - 5
8.1.4 Operation Stop/Start of Designated Loop No................................................................................... 8 - 6
8.1.5 Parameter Change at Designated Loop........................................................................................... 8 - 9
8.2 PID CONTROL PROGRAM EXAMPLES (QnACPU only)...................................................................8 - 11
8.2.1 System Configuration for Program Examples................................................................................8 - 11
8.2.2 Program Example for Automatic Mode PID Control
8 - 12
8.2.3 Program Example for Changing the PID Control Mode between Automatic and Manual............8 - 16
8.3 PID CONTROL PROGRAM EXAMPLES (Basic model QCPU, High Performance model QCPU only)
.................................................................................................................................................................. 8 - 20
8.3.1 System Configuration for Program Examples................................................................................8 - 20
8.3.2 Program Example for Automatic Mode PID Control ......................................................................8 - 20
8.3.3 Program Example for Changing the PID Control Mode between Automatic and Manual............8 - 24
9. INCOMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES
9 - 1 to 9 - 16
9.1 PID Control Instructions........................................................................................................................... 9 - 1
9.1.1 PID Control Data Settings................................................................................................................. 9 - 2
9.1.2 PID Operation.................................................................................................................................... 9 - 3
9.1.3 Operation Stop/Start of Designated Loop No................................................................................... 9 - 5
9.1.4 Parameter Change at Designated Loop........................................................................................... 9 - 6
9. PID CONTROL PROGRAM EXAMPLES ................................................................................................. 9 - 8
9.2.1 System Configuration for Program Examples.................................................................................. 9 - 8
9.2.2 Program Example for Automatic Mode PID Control ........................................................................ 9 - 9
9.2.3 Program Example for Changing the PID Control Mode between Automatic and Manual............9 - 13
APPENDIX
APP - 3
APPENDIX 1 PROCESSING TIME LIST.................................................................................................APP - 1
APPENDIX 1 Anti-Reset Windup Measure..............................................................................................APP - 2
A - 4
About Manuals
Related Manuals
The following manuals are also related to this product.
In necessary, order them by quoting the details in the tables below.
Manual Name
Manual Number
(Model Code)
Basic model QCPU (Q mode) User's Manual (Function Explanation, Program Fundamentals)
Describes the functions, programming procedures, devices, etc. necessary to create programs.
(Sold separately)
High Performance model QCPU (Q mode) User's Manual
(Function Explanation, Program Fundamentals)
Describes the functions, programming procedures, devices, parameter types and program types
necessary in program creation using High Performance model QCPU (Q mode).
QnACPU Programming Manual (Fundamentals)
Describes how to create programs, the names of devices, parameters, and types of program.
(Sold separately)
(Sold separately)
QCPU (Q mode) /QnACPU Programming Manual (Common Instructions)
Describes how to use sequence instructions, basic instructions, and application instructions.
(Sold separately)
QnACPU Programming Manual (Special Function)
Describes the dedicated instructions for special function modules available when using the
Q2ACPU(S1), Q3ACPU, and Q4ACPU.
(Sold separately)
QnACPU Programming Manual (AD57 Instructions)
Describes the dedicated instructions for controlling an AD57(S1) type CRT controller module available
when using the Q2ACPU(S1), Q3ACPU, or Q4ACPU.
(Sold separately)
SH-080188
(13JR44)
SH-080038
(13JL98)
IB-66614
(13JF46)
SH-080039
(13JF58)
SH-4013
(13JF56)
IB-66617
(13JF49)
A - 5
Before reading this manual, refer to the user's manual of the used CPU module or the
QnACPU Programming Manual (Fundamentals), and confirm which programs, I/O
processing, and devices can be used with the used CPU module.
(1) When Q00JCPU, Q00CPU or Q01CPU is used
Basic model QCPU
(Q mode)
User's Manual
(Function Explanation,
Program Fundamentals)
Describes the functions,
executable programs,
I/O processing and device
names of the QCPU.
This manual
QCPU (Q mode)/
QnACPU
Programming
Manual
(PID Control
Instructions)
Describes the
instructions used for
PID control.
QCPU (Q mode)/
QnACPU
Programming
Manual
(Common
Instructions)
Describes the
instructions other
than those given
on the right.
QCPU (Q mode)/
QnACPU
Programming
Manual
(SFC)
QCPU (Q mode)
Programming
Manual
(MELSAP-L)
QCPU (Q mode)
Programming
Manual
(Structured Text)
Describes SFC.
Describes MELSAP-L.
Describes the
structured text.
(2) When Q02(H)CPU, Q06HCPU, Q12HCPU or Q25HCPU is used
High Performance model
QCPU (Q mode)
User's Manual
(Function Explanation,
Program Fundamentals)
Describes the functions,
executable programs,
I/O processing and device
names of the High Performance
model QCPU.
This manual
QCPU (Q mode)/
QnACPU
Programming
Manual
(PID Control
Instructions)
Describes the
instructions used for
PID control.
QCPU (Q mode)/
QnACPU
Programming
Manual
(Common
Instructions)
Describes the
instructions other
than those given
on the right.
QCPU (Q mode)/
QnACPU
Programming
Manual
(SFC)
QCPU (Q mode)
Programming
Manual
(MELSAP-L)
QCPU (Q mode)
Programming
Manual
(Structured Text)
Describes SFC.
Describes MELSAP-L.
Describes the
structured text.
A - 6
(3) When Q2ACPU, Q3ACPU, Q4ACPU, Q4ARCPU or Q2AS(H)CPU is used
QnACPU
Programming
Manual
(Fundamentals)
Describes the programs, I/O processing,
device names, etc. that can be executed
by the QnACPU.
QCPU (Q mode)/
QnACPU
Programming
Manual
(Common
Instructions)
Describes the
instructions other
than those given
on the right.
QnACPU
Programming
Manual
(Special Function
Modules)
QnACPU
Programming
Manual
(AD57 Commands)
Describes the
instructions for the
special function
modules such as the
AJ71QC24 and
AJ71PT32-S3.
Describes the AD57
commands for
controlling the
AD57/AD58.
This manual
QCPU (Q mode)/
QnACPU
Programming
Manual
(PID Control
Instructions)
Describes the
instructions used
for PID control.
QCPU (Q mode)/
QnACPU
Programming
Manual
(SFC)
Describes SFC.
Q4ARCPU only
Q4ARCPU
Programming
Manual
(Application PID
Instructions)
Describes the
instructions used
for applied PID control.
Generic Terms and Abbreviations Used in This Manual
This manual uses the following generic terms and abbreviations unless otherwise described.
Generic term/abbreviation
CPU module
QnACPU
QnA
Q4AR
QnCPU
QnHCPU
QnPHCPU
High Performance model QCPU
High Performance
Process CPU
Basic model QCPU
Basic
Description of generic term/abbreviation
Abbreviation of High Performance model QCPU, Basic model QCPU,
QnACPU
Abbreviation of Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, Q2ASHCPU-S1,
Q2ACPU, Q2ACPU-S1, Q3ACPU, Q4ACPU, Q4ARCPU
Abbreviation of Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, Q2ASHCPU-S1,
Q2ACPU, Q2ACPU-S1, Q3ACPU, Q4ACPU
Abbreviation of Q4ARCPU
Abbreviation of Q02CPU
Abbreviation of Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU
Abbreviation of Q12PHCPU, Q25PHCPU
Generic term of Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU
Generic term of Q12PHCPU, Q25PHCPU
Generic term of Q00JCPU, Q00CPU, Q01CPU
A - 7
相关推荐
uCOS-III的任务调度算法研究.pdf
STM32F103x8B_DS_CH_V10(7STM32中文数据手册).pdf
FX2N系列PLC培训教程.pdf
Modbus协议资料.pdf
WM8978中文资料(芯片资料).doc
5-1.【Codelab】HarmonyOS基于图像模块实现图库图片的四种常见操作.pdf
GX Developer 编程软件使用说明.pdf
MR-E伺服与FX3G接线图.pdf
ATK-NEO-6M GPS模块常见问题汇总_201400721.pdf
STM32F407ZGT6(芯片资料).pdf
FM1715编程指南.pdf
Profibus教程－7.PROFIBUS-FMS.pdf
