9/7/2015
PIDTuningTutorial
WhatIsPIDTutorialOverview
GetTuningTipsNewsletter
PIDstandsforProportional,Integral,Derivative.Controllersaredesignedtoeliminatetheneedforcontinuousoperatorattention.Cruise
controlinacarandahousethermostatarecommonexamplesofhowcontrollersareusedtoautomaticallyadjustsomevariabletohold
themeasurement(orprocessvariable)atthesetpoint.Thesetpointiswhereyouwouldlikethemeasurementtobe.Errorisdefinedas
thedifferencebetweensetpointandmeasurement.
(error)=(setpoint)(measurement)Thevariablebeingadjustediscalledthemanipulatedvariablewhichusuallyisequaltotheoutput
ofthecontroller.TheoutputofPIDcontrollerswillchangeinresponsetoachangeinmeasurementorsetpoint.ManufacturersofPID
controllersusedifferentnamestoidentifythethreemodes.Theseequationsshowtherelationships:
PProportionalBand=100/gain
IIntegral=1/reset(unitsoftime)
DDerivative=rate=preact(unitsoftime)
Dependingonthemanufacturer,integralorresetactionissetineithertime/repeatorrepeat/time.Oneisjustthereciprocaloftheother.
Notethatmanufacturersarenotconsistentandoftenuseresetinunitsoftime/repeatorintegralinunitsofrepeats/time.Derivativeand
ratearethesame.
ChoosingthepropervaluesforP,I,andDiscalled"PIDTuning".FindoutaboutPIDTuningSoftware
ProportionalBand
Withproportionalband,thecontrolleroutputisproportionaltotheerrororachangeinmeasurement(dependingonthecontroller).
(controlleroutput)=(error)*100/(proportionalband)
Withaproportionalcontrolleroffset(deviationfromsetpoint)ispresent.Increasingthecontrollergainwillmaketheloopgounstable.
Integralactionwasincludedincontrollerstoeliminatethisoffset.
Integral
Withintegralaction,thecontrolleroutputisproportionaltotheamountoftimetheerrorispresent.Integralactioneliminatesoffset.
CONTROLLEROUTPUT=(1/INTEGRAL)(Integralof)e(t)d(t)
Noticethattheoffset(deviationfromsetpoint)inthetimeresponseplotsisnowgone.Integralactionhaseliminatedtheoffset.The
responseissomewhatoscillatoryandcanbestabilizedsomebyaddingderivativeaction.(GraphiccourtesyofExperTuneLoop
Simulator.)
Integralactiongivesthecontrolleralargegainatlowfrequenciesthatresultsineliminatingoffsetand"beatingdown"loaddisturbances.
Thecontrollerphasestartsoutat90degreesandincreasestonear0degreesatthebreakfrequency.Thisadditionalphaselagiswhat
yougiveupbyaddingintegralaction.Derivativeactionaddsphaseleadandisusedtocompensateforthelagintroducedbyintegral
action.
Derivative
Withderivativeaction,thecontrolleroutputisproportionaltotherateofchangeofthemeasurementorerror.Thecontrolleroutputis
calculatedbytherateofchangeofthemeasurementwithtime.
dm
CONTROLLEROUTPUT=DERIVATIVE
dt
Wheremisthemeasurementattimet.
Somemanufacturersusethetermrateorpreactinsteadofderivative.Derivative,rate,andpreactarethesamething.
DERIVATIVE=RATE=PREACT
Derivativeactioncancompensateforachangingmeasurement.Thusderivativetakesactiontoinhibitmorerapidchangesofthe
measurementthanproportionalaction.Whenaloadorsetpointchangeoccurs,thederivativeactioncausesthecontrollergaintomove
the"wrong"waywhenthemeasurementgetsnearthesetpoint.Derivativeisoftenusedtoavoidovershoot.
Derivativeactioncanstabilizeloopssinceitaddsphaselead.Generally,ifyouusederivativeaction,morecontrollergainandresetcanbe
used.
http://www.expertune.com/tutor.aspx
1/3
9/7/2015
PIDTuningTutorial
WithaPIDcontrollertheamplituderationowhasadipnearthecenterofthefrequencyresponse.Integralactiongivesthecontroller
highgainatlowfrequencies,andderivativeactioncausesthegaintostartrisingafterthe"dip".Athigherfrequenciesthefilteron
derivativeactionlimitsthederivativeaction.Atveryhighfrequencies(above314radians/timetheNyquistfrequency)thecontroller
phaseandamplituderatioincreaseanddecreasequiteabitbecauseofdiscretesampling.Ifthecontrollerhadnofilterthecontroller
amplituderatiowouldsteadilyincreaseathighfrequenciesuptotheNyquistfrequency(1/2thesamplingfrequency).Thecontroller
phasenowhasahumpduetothederivativeleadactionandfiltering.(GraphiccourtesyofExperTuneLoopSimulator.)
FeaturedArticles
ThetimeresponseislessoscillatorythanwiththePIcontroller.Derivativeactionhashelpedstabilizetheloop.
ControlLoopTuning
Itisimportanttokeepinmindthatunderstandingtheprocessisfundamentaltogettingawelldesignedcontrolloop.Sensorsmustbein
appropriatelocationsandvalvesmustbesizedcorrectlywithappropriatetrim.
Ingeneral,forthetightestloopcontrol,thedynamiccontrollergainshouldbeashighaspossiblewithoutcausingthelooptobe
unstable.ChoosingacontrollergainisaccomplishedeasilywithPIDTuningSoftware
PIDOptimizationArticles
Training
FineTuning"Rules"
Thispicture(fromtheLoopSimulator)showstheeffectsofaPIcontrollerwithtoomuchortoolittlePorIaction.Theprocessistypical
withadeadtimeof4andlagtimeof10.Optimalisred.
Youcanusethepicturetorecognizetheshapeofanoptimallytunedloop.AlsoseetheresponseshapeofloopswithIorPtoohighor
low.Togetyourprocessresponsetocompare,putthecontrollerinmanualchangetheoutput5or10%,thenputthecontrollerbackin
auto.
Pisinunitsofproportionalband.Iisinunitsoftime/repeat.SoincreasingPorI,decreasestheiractioninthepicture.
ExperTune'sFullLibrary
StartingPIDSettingsForCommonControlLoops
LoopType
http://www.expertune.com/tutor.aspx
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
2/3
9/7/2015
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,idealorseriesalgorithmanddonotapplytoallcontrollers.Use
ExperTune'sPIDLoopOptimizertofindtheproperPIDsettingsforyourprocessandcontroller.(FromProcessControlSystems(Shinskey)
p.99andTuningandControlLoopPerformance(McMillan)p39)
GetTuningTipsNewsletter
19992015MetsoExperTune,adivisionofMetsoMineralsIndustries,Inc.
20965CrossroadsCircle|Waukesha,WI53186USA
Telephone+1(262)3697711Fax+1(262)3697722
http://www.expertune.com/tutor.aspx
3/3
