SRS Labs SIM960 Manual de operación
Operation and Service Manual
Analog PID Controller
SIM960
Stanford Research Systems
Revision 2.3 •October 10, 2013
Distribution in the UK & Ireland
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Characterisation,
Measurement &
Analysis
Certification
Stanford Research Systems certifies that this product met its published specifications at the time
of shipment.
Warranty
This Stanford Research Systems product is warranted against defects in materials and workman-
ship for a period of one (1) year from the date of shipment.
Service
For warranty service or repair, this product must be returned to a Stanford Research Systems
authorized service facility. Contact Stanford Research Systems or an authorized representative
before returning this product for repair.
Information in this document is subject to change without notice.
Copyright c
Stanford Research Systems, Inc., 2003 – 2013. All rights reserved.
Stanford Research Systems, Inc.
1290–D Reamwood Avenue
Sunnyvale, CA 94089 USA
Phone: (408) 744-9040 •Fax: (408) 744-9049
Printed in U.S.A. Document number 9-01558-903
SIM960 Analog PID Controller
Contents
General Information iii
Safety and Precautions for Use ................ iii
Symbols ............................. iv
Notation ............................. v
Specifications .......................... vi
1 Getting Started 1 – 1
1.1 General ........................... 1–2
1.2 Front Panel Operation .................. 1–2
1.3 Rear Panel Monitoring .................. 1–7
1.4 SIM Interface ........................ 1–8
2 Advanced Topics 2 – 1
2.1 PID Tuning Basics ..................... 2–2
2.2 Ziegler-Nichols’ Tuning ................. 2–5
2.3 Anti-Windup and Conditional Integration ....... 2–7
2.4 Bumpless Transfer ..................... 2–8
3 Remote Operation 3 – 1
3.1 Index of Common Commands .............. 3–2
3.2 Alphabetic List of Commands .............. 3–4
3.3 Introduction ........................ 3–7
3.4 Commands ......................... 3–8
3.5 Status Model ........................ 3–25
4 Performance Tests 4 – 1
4.1 Getting Ready ....................... 4–2
4.2 Performance Tests ..................... 4–2
4.3 Calibration ......................... 4–6
5 Circuitry 5 – 1
5.1 Circuit Descriptions .................... 5–2
5.2 Parts Lists ......................... 5–4
5.3 Schematic Diagrams ................... 5–7
i
ii Contents
SIM960 Analog PID Controller
General Information
Safety and Precautions for Use
Because of the variety of uses for the SIM960, those responsible for
the application and use of this control equipment must satisfy them-
selves that all necessary steps have been taken to assure that each
application and use meets all performance and safety requirements,
including any applicable laws, regulations, codes and standards.
The SIM960 is not designed, intended, or sold for use in hazardous
WARNING environments requiring fail-safe operation, including without lim-
itation, operation of nuclear facilities, aircraft or spacecraft control
systems, and life support or weapons systems. The user must assure
that any failure or misapplication of the SIM960 cannot lead to a con-
sequential failure of any interconnected equipment that could lead
to loss of life or limb, or property damage.
The illustrations, charts, and discussions shown in this manual are
intended solely for purposes of example. Since there are many vari-
ables and requirements associated with any particular control ap-
plication, Stanford Research Systems does not assume responsibility
or liability for actual use based upon the examples shown in this
publication.
Service
Do not install substitute parts or perform any unauthorized modifi-
cations to this instrument.
The SIM960 is a double-wide module designed to be used inside the
SIM900 Mainframe. Do not turn on the power to the Mainframe or
apply voltage inputs to the module until the module is completely
inserted into the mainframe and locked in place. Do not exceed
±18 V at any input or output connector.
iii
iv General Information
Symbols you may Find on SRS Products
Symbol Description
Alternating current
Caution - risk of electric shock
Frame or chassis terminal
Caution - refer to accompanying documents
Earth (ground) terminal
Battery
Fuse
On (supply)
Off (supply)
SIM960 Analog PID Controller
General Information v
Notation
The following notation will be used throughout this manual.
A warning means that injury or death is possible if the instructions
WARNING are not obeyed.
A caution means that damage to the instrument or other equipment
CAUTION is possible.
Typesetting conventions used in this manual are:
•Front-panel buttons are set as [Button];
[Adjust ] is shorthand for “[Adjust ] & [Adjust ]”.
•Front-panel indicators are set as Overload.
•Remote command names are set as *IDN?.
•Literal text other than command names is set as OFF.
Remote command examples will all be set in monospaced font. In
these examples, data sent by the host computer to the SIM960 are set
as straight teletype font, while responses received by the host
computer from the SIM960 are set as slanted teletype font.
SIM960 Analog PID Controller
vi General Information
Specifications
Performance Characteristics
Min Typ Max Units
Amplifier Settings Control type Analog, PID+Offset
Input Range −10 +10 V common mode
−1+1Vdifferential
Proportional gain 10−1103V/V
Integral gain 10−25×1051/s
eff. time const. 2×10−6102s
Derivative gain 10−610 s
Offset −10 +10 V
resolution 1 mV
Amplifier Performance Bandwidth 100 kHz
Propagation delay 1 μs
Noise (f>20 Hz) 8 nV/√Hz, RTI
Output Range −10 +10 V
Configuration Parameter control Digital
Parameter accuracy 1 %
Stability 200 ppm/◦C
Display Resolution 4 digits
Inputs Measure BNC, 1 MΩ,±10 V range
Ext. Setpoint BNC, 1 MΩ,±10 V range
Setpoint Generator Setting −10 +10 V
resolution 1 mV
Ramp Rate 10−3104V/s
Noise (f>100 Hz) 20 nV/√Hz, RTI
Operating Temperature [14] 0 40 ◦C
Power ±15,+5VDC
Supply current 150 (±15 V), 80 (+5V) mA
General Characteristics
Number of inputs 2
Interface Serial (RS-232) through SIM interface
Connectors BNC (3 front, 2 rear); DB–15 (male) SIM interface
Weight 2.1 lbs
Dimensions 3.0 W×3.6 H×7.0 D
SIM960 Analog PID Controller
1 Getting Started
This chapter gives you the necessary information to get started
quickly with your SIM960 Analog PID Controller.
In This Chapter
1.1 General ........................... 1–2
1.2 Front Panel Operation .................. 1–2
1.2.1 Inputs ....................... 1–4
1.2.2 Ramping ...................... 1–5
1.2.3 Connections .................... 1–5
1.2.4 Bar displays .................... 1–6
1.2.5 Restoring the default configuration ...... 1–6
1.3 Rear Panel Monitoring .................. 1–7
1.3.1 Error Monitor ................... 1–7
1.3.2 Input Setpoint Monitor ............. 1–7
1.4 SIM Interface ....................... 1–8
1.4.1 SIM interface connector ............. 1–8
1.4.2 Direct interfacing ................. 1–8
1–1
1–2 Getting Started
1.1 General
The SIM960 is designed to maintain stability in systems requiring
low noise and wide bandwidth. The controller design consists of
a front end differential input amplifier, followed by an integrator
and a differentiator, arranged in what is known as the “ideal” PID
topology. The input amplifier (the “error amplifier”) differences the
the two single ended inputs, Setpoint and Measure, and multiplies
the resulting error signal (ε) by the proportional gain. The amplified
error is then passed to three parallel control paths:
1. The proportional path, no change is made to the signal.
2. The integral path with gain I.
3. The derivative path gain D.
These three signals can be independently selected to combine at a
summing amplifier, which is then buffered to the output. A constant
offset can also be added, which can be useful in applications that do
not use the Iterm. Mathematically, the behavior is
ε≡Setpoint −Measure (1.1)
Output =P×ε+Iεdt+Ddε
dt+Offset (1.2)
where the three terms within the braces, and Offset, can be indepen-
dently enabled or zeroed.
For internal stability, the actual differentiator is “rolled off” to limit
the derivative gain to +40 dB.
The output circuitry includes a soft limiter that turns on when the
output exceeds user specified upper and lower limits and clamps the
output to the limit level. The output bar display on the right side of
the front panel has red LEDs at each end to indicate when the output
is being limited.
1.2 Front Panel Operation
This section discusses the essentials of operating the SIM960 locally,
from the front panel. See Chapter 3 for remote operation.
•Press [Select] to choose which configuration parameter to view
in the numerical display. The indicator to the left of each
descriptor shows which parameter is displayed. When Shift
is highlighted, pressing [Select] steps the parameter selection
backwards.
SIM960 Analog PID Controller
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