9/7/2015
PIDTuningTutorial
WhatIsPIDTutorialOverview
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PIDstandsforProportional,Integral,[Link]
controlinacarandahousethermostatarecommonexamplesofhowcontrollersareusedtoautomaticallyadjustsomevariabletohold
themeasurement(orprocessvariable)[Link]
thedifferencebetweensetpointandmeasurement.
(error)=(setpoint)(measurement)Thevariablebeingadjustediscalledthemanipulatedvariablewhichusuallyisequaltotheoutput
[Link]
[Link]:
PProportionalBand=100/gain
IIntegral=1/reset(unitsoftime)
DDerivative=rate=preact(unitsoftime)
Dependingonthemanufacturer,integralorresetactionissetineithertime/repeatorrepeat/[Link].
Notethatmanufacturersarenotconsistentandoftenuseresetinunitsoftime/repeatorintegralinunitsofrepeats/[Link]
ratearethesame.
ChoosingthepropervaluesforP,I,andDiscalled"PIDTuning".FindoutaboutPIDTuningSoftware
ProportionalBand
Withproportionalband,thecontrolleroutputisproportionaltotheerrororachangeinmeasurement(dependingonthecontroller).
(controlleroutput)=(error)*100/(proportionalband)
Withaproportionalcontrolleroffset(deviationfromsetpoint)[Link].
Integralactionwasincludedincontrollerstoeliminatethisoffset.
Integral
Withintegralaction,[Link].
CONTROLLEROUTPUT=(1/INTEGRAL)(Integralof)e(t)d(t)
Noticethattheoffset(deviationfromsetpoint)[Link]
responseissomewhatoscillatoryandcanbestabilizedsomebyaddingderivativeaction.(GraphiccourtesyofExperTuneLoop
Simulator.)
Integralactiongivesthecontrolleralargegainatlowfrequenciesthatresultsineliminatingoffsetand"beatingdown"loaddisturbances.
[Link]
[Link]
action.
Derivative
Withderivativeaction,[Link]
calculatedbytherateofchangeofthemeasurementwithtime.
dm
CONTROLLEROUTPUT=DERIVATIVE
dt
Wheremisthemeasurementattimet.
[Link],rate,andpreactarethesamething.
DERIVATIVE=RATE=PREACT
[Link]
[Link],thederivativeactioncausesthecontrollergaintomove
the"wrong"[Link].
[Link],ifyouusederivativeaction,morecontrollergainandresetcanbe
used.
[Link]
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PIDTuningTutorial
[Link]
highgainatlowfrequencies,andderivativeactioncausesthegaintostartrisingafterthe"dip".Athigherfrequenciesthefilteron
[Link](above314radians/timetheNyquistfrequency)thecontroller
[Link]
amplituderatiowouldsteadilyincreaseathighfrequenciesuptotheNyquistfrequency(1/2thesamplingfrequency).Thecontroller
phasenowhasahumpduetothederivativeleadactionandfiltering.(GraphiccourtesyofExperTuneLoopSimulator.)
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[Link].
ControlLoopTuning
[Link]
appropriatelocationsandvalvesmustbesizedcorrectlywithappropriatetrim.
Ingeneral,forthetightestloopcontrol,thedynamiccontrollergainshouldbeashighaspossiblewithoutcausingthelooptobe
[Link]
PIDOptimizationArticles
Training
FineTuning"Rules"
Thispicture(fromtheLoopSimulator)[Link]
[Link].
[Link]
[Link],putthecontrollerinmanualchangetheoutput5or10%,thenputthecontrollerbackin
auto.
[Link]/[Link],decreasestheiractioninthepicture.
ExperTune'sFullLibrary
StartingPIDSettingsForCommonControlLoops
LoopType
[Link]
PB
%
Integral
min/rep
Integral
rep/min
Derivative
min
ValveType
Flow
50to500
0.005to0.05
20to200
none
LinearorModifiedPercentage
LiquidPressure
50to500
0.005to0.05
20to200
none
LinearorModifiedPercentage
GasPressure
1to50
0.1to50
0.02to10
0.02to0.1
Linear
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PIDTuningTutorial
LiquidLevel
1to50
1to100
0.1to1
0.01to0.05
LinearorModifiedPercentage
Temperature
2to100
0.2to50
0.02to5
0.1to20
EqualPercentage
Chromatograph
100to2000
10to120
0.008to0.1
0.1to20
Linear
Thesesettingsarerough,assumepropercontrolloopdesign,[Link]
ExperTune'sPIDLoopOptimizertofindtheproperPIDsettingsforyourprocessandcontroller.(FromProcessControlSystems(Shinskey)
p.99andTuningandControlLoopPerformance(McMillan)p39)
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Telephone+1(262)3697711Fax+1(262)3697722
[Link]
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