HIMA F6706控制模塊,F6706如何使用
90-30系列PLC安裝和硬件手冊(cè)，GFK-035690-30系列CPU參考手冊(cè)，GFK-0467Series 90 PLC用戶手冊(cè)的TCP/IP以太網(wǎng)通信，GFK-1541Series 90 PLC Station Manager Manual（GFK-1186）的TCP/IP以太網(wǎng)通信文件勘誤表電池壽命新的高速緩存RAM組件會(huì)縮短電池壽命，如下表所示。此信息將包括在90-30系列CPU參考手冊(cè)的下一次計(jì)劃更新中。
HIMA F6706控制模塊PID導(dǎo)數(shù)項(xiàng)現(xiàn)在可以將可選濾波應(yīng)用于PID導(dǎo)數(shù)項(xiàng)，以在某些情況下提高控制回路的穩(wěn)定性應(yīng)用?？梢酝ㄟ^在的配置字參數(shù)中設(shè)置位5（以前未使用）來啟用過濾PID參數(shù)塊。將對(duì)Series 90進(jìn)行以下更改?-30/20/Micro PLC CPU指令集參考手冊(cè)，GFK-0467M，下一版本：在第12章“控制功能”中，“PID算法選擇（PIDISA或PIDIND）和增益”部分衍生術(shù)語(yǔ)的描述應(yīng)替換為以下文字：導(dǎo)數(shù)項(xiàng)是自上次PID解算以來，誤差項(xiàng)在區(qū)間內(nèi)的時(shí)間變化率。導(dǎo)數(shù)=Δ誤差/dt=（誤差–先前誤差）/dt，哪里dt=當(dāng)前PLC運(yùn)行時(shí)間-之前PID解決方案下的PLC運(yùn)行時(shí)間。在正常模式下（即沒有反向動(dòng)作模式），這是誤差項(xiàng)的變化。（錯(cuò)誤–先前錯(cuò)誤）=（SP–PV）–（先前SP–先前PV）=（上一個(gè)PV–PV）–（上一個(gè)SP–SP）然而，當(dāng)設(shè)置配置字中的錯(cuò)誤極性位（位0）時(shí)，錯(cuò)誤項(xiàng)中的變化符號(hào)是反向的。（Error–previous Error）=（PV–SP）–（previous PV–previous SP）=（PV–上一個(gè)PV）–（SP–上一個(gè)SP誤差項(xiàng)的變化取決于設(shè)定點(diǎn)和過程變量的變化。如果設(shè)定點(diǎn)是恒定的，SP和前一個(gè)SP之間的差值為零，對(duì)輸出。然而，設(shè)定值變化可能會(huì)導(dǎo)致導(dǎo)數(shù)項(xiàng)和因此，輸出。通過消除設(shè)定點(diǎn)變化對(duì)系統(tǒng)穩(wěn)定性的影響，可以提高回路穩(wěn)定性導(dǎo)數(shù)項(xiàng)。將配置字的第三位（第2位）設(shè)置為1，以計(jì)算基于導(dǎo)數(shù)的僅在PV的變化上。
Product Documentation
Series 90-30 PLC Installation and Hardware Manual, GFK-0356
Series 90-30 CPU Reference Manual, GFK-0467
TCP/IP Ethernet Communications for the Series 90 PLC User’s Manual, GFK-1541
TCP/IP Ethernet Communications for the Series 90 PLC Station Manager Manual, GFK-1186
Documentation Errata
Battery Life
The new cache RAM component reduces the battery life as shown in the following table. This information will
be included in the next scheduled update of the Series 90-30 CPU Reference Manual.PID Derivative Term
Optional filtering may now be applied to the PID Derivative Term to improve control loop stability in some
applications. Filtering may be enabled by setting bit 5 (previously unused) in the Config Word parameter of
the PID Parameter Block.
The following changes will be made to the Series 90?-30/20/Micro PLC CPU Instruction Set Reference
Manual, GFK-0467M, at its next revision:
In Chapter 12, ”Control Functions”, Section “PID Algorithm Selection (PIDISA or PIDIND) and Gains”
The description of the Derivation term should be replaced with this text:
The Derivative term is the time rate of change of the Error term in the interval since the last PID solution.
Derivative = ΔError / dt = (Error – previous Error) / dt,
where
dt = Current PLC elapsed time - PLC elapsed time at previous PID solution.
In normal mode (that is, without Reverse-Action mode), this is the change in the error term.
(Error – previous Error) = (SP – PV) – (previous SP – previous PV)
= (previous PV – PV) – (previous SP – SP)
However, when the Error Polarity bit (bit 0) in the Config Word is set, the sign of the change in the error term
is reversed.
