10 Tips For Tuning of PID Loops: by Steve Mackay

IDC Technologies and the Engineering Institute of Technology (EIT) - Free Online Course
10 Tips for Tuning of PID Loops

By Steve Mackay
www.eit.edu.au
:HOFRPH WR WKLV ZHELQDU

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RH
2EMHFWLYHV
& R Q F H S W = LH J OH U 1 3 U D F WLF D O & D V F D G H ' H D G WLP R I WX LF K R F OR V OR R S H LV V Q LQ J OV F OD V V LF D O U X OH V H G D Q G R S H Q OR R S V WU D WH J LH V V X H V
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&RQFHSW RI 7XQLQJ
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Objectives of Tuning (1)
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Objectives of Tuning (2)
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Other Aspects of Tuning (3,4,5)
"
$ "
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=LHJOHU 1LFKROV DQG RW KHUV
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Loop Controller and Process
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Steps of Open Loop Tuning (Reaction Curve)

%& % " # '& ( "
%'$ ) %) " "
( "
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"
Open Loop Tuning Method (2)
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Reaction Curve Calculations

& )
KC = OP % ( N L ) KC = 0.9 OP % N L
Tint = 3 L
&
&* )
KC = 12 . OP% N L
Tint = 2 L Tder = 0.5 L
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Continuous Cycling - Ziegler & Nichols

+ + + +
, " " " * * " '$ " " " . $ $. " + "
" / 0 1 2*
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P-only for Continuous Cycling Method
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Reaction Curve Method (Ziegler & Nichols)

# 3" " " . 5 " 4 " " / 0 1 6 % "
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Continuous Cycling Method

% & " % & " % ) % " ! % * $ : % ) " & " . 7(( 8 5 & &96 & "
"
" . "
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Calculation of Tuning Constants

& ) & )
KC = 0.5 KU
KC = 0.45 KU
Tint =
&* )
PU
1.2
KC = 0.6 KU Tint = Tder = PU PU 2 8
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First Order Lag
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First Order Lag Response Curve
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Damped Cycling Method

9 $ " " $;" " ." % % % % " % % % " " $
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10
Damped Oscillation Decay Ratio
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Steps of Damped Cycling Method

% & " % & " % ) % * $ ! % < : % ) "
7 )
& " 7(( 8 5 & &96 " . "

"
&
&
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11
&
&
7 " 5d6% % % 0 % ! " " $
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Calculate Tuning Constants

& )
Tint =
(P
Rd )
1.2
Rd =
Pu
&* )
Tint = Tder =
(P R )
d d
(P R )
d d
2 8
% % % % %
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$.
12
Tuning for NO Overshoot on Start-up

9 = 5 6 " " ."
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Formula for NO Overshoot on Start-up

, " &* " " ."
KC = 0.2 KU P Tint = U 3 P Tder = U 2

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13
Tuning for SOME Overshoot on Start-up
9 "
" .
" ."
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Formula for Some Overshoot on Start-up

" &* " " ."
K C = 0.33 KU
Tint = Tder =
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P U P U
2 3
14
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6LQJOH /RRS 7HPSHUDWXUH & RQWURO
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15
7Z R & RQWUROOHU % DV LF & DV F DG H & RQWURO
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7XQLQJ RI & DV F DG H /RRSV

& D V F D G H & R Q WU R O 6 H F R Q G D U \ & R Q WU R OOH U V
0 D LQ O\ IOR Z F R Q WU R OOH U 1 R ' F R Q WU R O D V P D LQ O\ V WD E OH .
FRQW
& D V F D G H & R Q WU R O 3 U LP D U \ & R Q WU R OOH U V

0 D LQ O\ 3 , ' F R Q W U R OOH U & D U H IX O V WD E LOLW\ F R Q V LG H U D WLR Q V
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16
Long Process Deadtime in Closed Loop Control & The Smith Predictor
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3 URF HV V ' HDG WLPH

' G ( R Q LIILF X OW S U R E H D G WLP H LQ V S H F LD OO\ Z I WR WD O WLP H H Z Y D OX H D OH P WR R IH H G E D F K H Q G H D WD N H Q IR IWH U OD V W Y H U F R P H OR Q J N F R Q WU R O OR R S G WLP H P R U H WK D Q U 3 9 WR V H WWOH WR LWV V H WS R LQ W F K D Q J H
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17
( [ DPSOH RI 3 URF HV V ' HDG WLPH
Illustration of a long conveyor system giving an excessive deadtime to the control loop www.eit.edu.au
2 Y HUF RPLQJ 3 URF HV V ' HDG WLPH

' H S H Q G V R Q R S H U D WLQ J U H T X LU H P S UR F H V V ( D V L H V W V R O X W L R Q G H W X Q H F R Q W U R V OR Z H U U H V S R Q V H U D WH V R WK D W F R Q R W R Y H U F R P S H Q V D WH X Q OH V V G H H [ F H V V LY H O\ OR Q J ,Q WH J U D O P R G H R I F R Q WU R OOH U Y H U \ WR G H D G WLP H V LQ F H G X U LQ J S H U LR G LQ D F WLY LW\ LQ WH J U D WR U U D P S V R X WS
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H Q WV R I OOH U WR Q WU R OOH U Z LOO D G WLP H V H Q V LWLY H R I 3 9 X W
18
Choice of Tuning Constant (1)
>
"
)
$
< #
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Choice of Tuning Constants (2)
)
" " . $
<
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19
Choice of Tuning Constants (3)

O utlet Inlet T2 SP PV TC
<
; < " " #.
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. . $ " "
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7+$1. <28 )25 $77(1',1*

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20
Eb 0&( 2xF b 2eE 7 r tE r 8

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21

10 Tips For Tuning of PID Loops: by Steve Mackay

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10 Tips For Tuning of PID Loops: by Steve Mackay

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IDC Technologies and the Engineering Institute of Technology (EIT) - Free Online Course

10 Tips for Tuning of PID Loops

:HOFRPH WR WKLV ZHELQDU

10 Tips for Tuning of PID Loops

10 Tips for Tuning of PID Loops

Objectives of Tuning (1)

Objectives of Tuning (2)

10 Tips for Tuning of PID Loops

Other Aspects of Tuning (3,4,5)

=LHJOHU 1LFKROV DQG RW KHUV

10 Tips for Tuning of PID Loops

Loop Controller and Process

Steps of Open Loop Tuning (Reaction Curve)

%'$ ) %) " "

10 Tips for Tuning of PID Loops

Open Loop Tuning Method (2)

Reaction Curve Calculations

10 Tips for Tuning of PID Loops

Continuous Cycling - Ziegler & Nichols

P-only for Continuous Cycling Method

10 Tips for Tuning of PID Loops

Reaction Curve Method (Ziegler & Nichols)

Continuous Cycling Method

10 Tips for Tuning of PID Loops

Calculation of Tuning Constants

KC = 0.6 KU Tint = Tder = PU PU 2 8

First Order Lag

10 Tips for Tuning of PID Loops

First Order Lag Response Curve

Damped Cycling Method

10 Tips for Tuning of PID Loops

Damped Oscillation Decay Ratio

Steps of Damped Cycling Method

& " 7(( 8 5 & &96 " . "

10 Tips for Tuning of PID Loops

7 " 5d6% % % 0 % ! " " $

Calculate Tuning Constants

10 Tips for Tuning of PID Loops

Tuning for NO Overshoot on Start-up

Formula for NO Overshoot on Start-up

KC = 0.2 KU P Tint = U 3 P Tder = U 2

10 Tips for Tuning of PID Loops

Tuning for SOME Overshoot on Start-up

Formula for Some Overshoot on Start-up

10 Tips for Tuning of PID Loops

6LQJOH /RRS 7HPSHUDWXUH & RQWURO

10 Tips for Tuning of PID Loops

7Z R & RQWUROOHU % DV LF & DV F DG H & RQWURO

7XQLQJ RI & DV F DG H /RRSV

& D V F D G H & R Q WU R O 3 U LP D U \ & R Q WU R OOH U V

10 Tips for Tuning of PID Loops

3 URF HV V ' HDG WLPH

10 Tips for Tuning of PID Loops

( [ DPSOH RI 3 URF HV V ' HDG WLPH

2 Y HUF RPLQJ 3 URF HV V ' HDG WLPH

H Q WV R I OOH U WR Q WU R OOH U Z LOO D G WLP H V H Q V LWLY H R I 3 9 X W

10 Tips for Tuning of PID Loops

Choice of Tuning Constant (1)

Choice of Tuning Constants (2)

10 Tips for Tuning of PID Loops

Choice of Tuning Constants (3)

7+$1. <28 )25 $77(1',1*

10 Tips for Tuning of PID Loops

& D V F D G H & R Q WU R O 3 U LP D U \ & R Q WU R OOH U V

Eb 0&( 2xF b 2eE 7 r tE r 8

Eb 0&( 2xF b 2eE 7 r tE r 8