Norges landbrukshøgskole, Institutt for tekniske fag

TEL220 Måling og styring med datamaskin

Lab: Industriell PID-regulator (Fuji PYX5)

Hva laben går ut på

I denne øvingen skal dere bli kjent med en kommersiell PID-regulator, nemlig Fuji PYX5 (pris ca. kr. 3300). Regulatoren skal brukes til å regulere turtallet på en DC-motor.

Utstyr

• Kommersiell PID-regulator: Fuji PYX5.
• Likestrømsmotor

Praktiske opplysninger

Læreren forklarer utstyrets oppbygning og virkemåte.

Oppgaver

1. Get to know the controller by browsing the instruction manual together with the teacher.
2. Do the following tasks on your own (in student groups):
   1. Set the controller parameters as indicated below, cf. Appendix 5: Parameter List in the manual (not all parameters in Appendix 5 are available in the present controller). Find from the manual the meaning of each of the parameters. The parameters in the list below is in same order as they appear in the controller.
      • LOCK = 3
      • OUT1: No setting required.
      • MOD = Man (= Manual)
      • AT = OFF
      • P = 100
      • I = 0
      • D = 0
      • AR = 100 (dont care about the meaning of this parameter)
      • MAN = 0
      • AL1T = 0001
      • AL11 = 90
      • A11H = 1
      • AL2T = 0002
      • AL21 = 10
      • A21H = 1
      • Loop = 0 (dont care about the meaning of this parameter)
      • PVT = 4111
      • PVF = 100
      • PVB = 0
      • PVD = 0
      • TF = 4.0
      • SFT = 0
      • SVH = 100
      • SVL = 0
      • CTRL = PID
      • DT = 0.5 (the effective value of this parameter is 0.5 no matter the value set)
      • REV1 = REV
      • TC-1 = 2 (this parameter is however not active)
      • MV-H = 100
      • MV-L = 0
      • BURN = 1 (don't care about the meaning of this parameter)
   2. Connect the controller to the process as follows:
      1. Controller input terminal no. 16 to Tachometer minus (not plus)
      2. Controller input terminal no. 18 to Tachometer plus (not minus)
      3. Controller output terminal no. 13 to Servo amplifier input ("Styrespenning") plus
      4. Controller output terminal no. 14 to Servo amplifier input ("Styrespenning") minus

      Ask the teacher to check the connections.

   3. With the controller (still) in manual mode (open loop control): Adjust the manual control signal so that the speed is approximately 50% (you can adjust the control signal with the controller in Operation Mode). Apply a small approx. constant load torque to the motor (use your finger). What is the steady-state control error (in %)?
   4. Set the controller in automatic mode (closed loop control). Set the setpoint equal to 50%.
      1. Execute auto-tuning. What are the resulting P-, I- and D-values? What is the value of the controller gain (Kp) that corresponds to the P-value from the auto-tuning?
      2. Is the stability of the control system ok? (Excite with a step in the setpoint.)
      3. Set setpoint to 50%. Apply a small approximately constant load torque to the motor (use your finger). What is the steady-state control error (in %)?
   5. What happens to the stability of the control system if the controller mode is changed from reverse action to direct action (denoted both direct and normal in the manual)?

[Til framdriftsplanen]

Sist oppdatert 16.4.04 av Finn Haugen (e-post-adresse: finn@techteach.no).