Maret 2005

Pengendali PID
(Proportional,
Integrator, Derivative)

Hamid/Fauzan Amir

PID Control 1
 Maret 2005

Outlines & Tujuan

Outlines
 Algoritma pengendalian PID
 Aspek praktis

Tujuan
 Memahami pengendalian PID
 Memahami fungsi dari tiap-tiap bentuk pengendalian PID
(P&I&D)
 Dapat memilih kombinasi yang baik dan melakukan tuning dari
PID untuk berbagai penerapan pengendalian proses.
 Mengetahui fitur tambahan yang diinstal ke dalam pengendali
yang diterapkan dalam praktek

PID Control 2
 Maret 2005

Apakah Pengendalian PID itu?

 The PID singkatan dari Proportional - Integrator –
Derivative.
 Dikenal juga sebagai “three-term control”.
 Diterapkan pada pemrograman komputer
• controller come in many different forms
• PID control sering dikombinasikan dengan logika, fungsi sequential ,
selectors, and fungsi blok sederhana untuk membuat sistem
pengendalian kompleks.

PID Control 3
 Maret 2005

Why PID Control?

 Algorithm PID sederhana, mudah dipahami,
dan relatif lebih mudah disetel (dituning)
daripada pengendali lain
• Menjadi peralatan standar ketika pengendalian proses berkembang
pada tahun 1940an
• Pada pengendalian proses saat ini, lebih dari 90% lingkar
pengendalian menggunakan tipe PID

PID Control 4
 Maret 2005

Konsep Kunci(1)
 Aksi Proses
• Definisi hubungan antara perubahan pada
valve dan perubahan pada variabel
proses
DIRECT Peningkatan posisi valve
mengakibatkan peningkatan pada
variabel proses
REVERSE Peningkatan posisi valve
mengakibatkan penurunan pada variabel
proses
PID Control 5
 Maret 2005

PROSES DIRECT ---

PENGENDALI HARUS REVERSE

PROSES REVERSE ---

PENGENDALI HARUS DIRECT
Aksi pengendali harus berlawanan terhadap aksi proses

PID Control 6
 Maret 2005

Key Concepts (2)

 PID algorithm tidak mengenal output yang paling benar
untuk membawa variabel proses menuju setpoint
• The algorithm must have process measurement to perform
• It merely continues to move the output in the direction which should move the
process toward the setpoint

 PID algorithm harus disetel ‘dituning’ sesuai dengan loop

proses nya.
• Tiap bentuk dari persamaan PID harus dipahami.
• Penyetelan didasarkan pada dinamika respon proses

PID Control 7
 Maret 2005

Key Concepts (3)

 Manual & Auto modes
• Manual mode
 operator manusia mengatur output dalam mengoperasikan proses
 Manual Mode sangat berguna saat kondisi yang tidak stabil:
 Plant start-up
 Plant shut-down
 Emergencies
• Auto mode
 Algoritma pengendalian memanipulasi output untuk menghitung sendiri nilai
setelan pengendali dengan bantuan program komputer hingga tercapainya set
point.
 Biasanya dipakai untuk operasi steady state normal.

PID Control 8
 Maret 2005

Algoritma Pengendalian PID

 Terdiri dari:
• Proportional – dikenal juga sebagai Proportional Gain atau Gain
• Integrator – dikenal juga sebagai Automatic Reset atau Reset
• Derivative – dikenal juga sebagai Rate atau Pre-Act

 Bisa juga dikombinasikan menjadi:

• Proportional saja (P)
• Proportional dan Integrator (PI) (paling umum)
• Proportional, Integrator, dan Derivative (PID)
• Proportional dan Derivative (PD)

PID Control 9
 Maret 2005

Mode Proporsional (1)

CO = P .e
SP
+
e CO
P = proportional Gain (dimensionless)/ Kp
PP
CO = controller output (%) PVm
b = Bias (%) (dikenal juga sebagai manual reset) BIASANYA 0
e = ( SP – PVm ) (%)  “reverse process, direct control”, atau
e = – ( SP – PVm ) (%)  “direct process, reverse control”

 Some manufacturers use Proportional Band (PB) instead of

proportional gain
• PB is the % change in the input which a 100% change in the output

PB =
100
CO. = P e= 100 e
P PB
PID Control 10
 Maret 2005

Mode Proporsional (2)

 Proportional saja menghasilkan offset
• Offset dapat dikurangi dengan meningkatkan controller gain (atau
menurunkan proportional band). Tetapi tidak dapat menyetel gain yang
terlalu besar karena akan cenderung menimbulkan osilasi dan atau
ketidak stabilan.

PVm
SP

Large P

Small P

time

PID Control 11
 Maret 2005

Mode Proporsional (2)

• Untuk menghilangkan offset, operator harus secara manual melakukan
“reset” dengan mengatur nilai manual reset (“b” )

PVm
SP

Manual reset
P constant

Manual reset

time

PID Control 12
 Maret 2005

Mode Integrator (Automatic Reset) (1)

1
CO =
Tm e dt SP
+
e 11
TTmm
 dt
CO


Tm = integral time (minute per repeat or PVm
second per repeat)=1/I=1/Ki
CO = controller output (%)
e = ( SP – PVm ) (%)  “reverse action” or
e = – ( SP – PVm ) (%)  “direct action”

 Some manufacturers use repeat per minute (or repeat per second)
instead of minute per repeat (or second per repeat)
• Repeat per minute (or second) is the time it takes the reset (or integral) element to
repeat (reset) the action of the proportional element

e dt
1
repeat per minute (Tr) =
minute per repeat (Tm) CO = I
PID Control
 13
 Maret 2005

Integral (Automatic Reset) Mode (2)

 Selama masih ada error , controller selalu merubah
output dengan melakukan koreksi, sehingga mode
Integral memungkinkan untuk menghilangkan error (error
menjadi nol)
 Kecepatan PV
respons menjadi lebih kecil (jika dibandingkan
m
SP
P-only mode)
P-only

I-only

Small P

time

PID Control 14
 Maret 2005

Mode Proportional-Integral(1)
PP

SP
+
e 11 CO
TTmm
 dt
PVm

1
CO = P (e +
Tm e dt )


PID Control 15
 Maret 2005

Mode Proportional-Integral (2)

 Response of PI controller to step change in error
P Output response
Slope =
Tm for various
values of Tm
Response equal
Controller Output (CO)

in magnitude to
Proportional
response

Response due to
Proportional P
control action

Tm time
Error

0
time

PID Control 16
 Maret 2005

Mode Proportional-Integral (3)

 Mengkombinasikan fitur terbaik dari mode proportional
dan integral modes
• Offset proporsional dihilangkan dimana hanya terjadi sedikit saja
penurunan kecepatan.

PVm PI
SP

P-only

I-only

Small P

time

PID Control 17
 Maret 2005

Mode Derivative (1)

CO = D de SP
+
e d CO
dt D
D dt

PVm
D = derivative time (minute or second) = Kd
CO = controller output (%)
e = ( SP – PVm ) (%)  “reverse action” or
e = – ( SP – PVm ) (%)  “direct action”

 Kecepatan respon meningkat (jika dibandingkan dengan

P-only mode)
 Hipersensitif terhadap noise dan gangguan frekuensi tinggi
lain.

PID Control 18
 Maret 2005

Derivative Mode (2)

 sinyal error steady-state, walaupun demikian, tidak
dikenali oleh controller D, karena berapapun besarnya
kesalahan, kecepatan perubahannya adalah nol.
Sehingga pengendali derivative saja tidak digunakan
dalam praktek. (harus dikombinasikan, biasanya dengan
P dan PI)

PID Control 19
 Maret 2005

Proportional-Derivative Mode (1)

d b
D
D dt +
SP e + CO
+
PP
+
+

PVm

de
)
CO = P (e + D dt + b

PID Control 20
 Maret 2005

Mode Proportional-Derivative (2)

 Respons pengendali PD terhadap perubahan error
berupa ramp Response due to
Proportional and
Response due to Derivative modes
Proportional and
Derivative modes
Controller Output (CO)

Theoretical
Actual

Response due to
Proportional mode
only
D

time

Ramp
Generator OFF
Error

Ramp
Generator ON time

PID Control 21
 Maret 2005

Proportional-Derivative Mode (3)

 PD control can produces an offset
 To avoid proportional offset, the bias “b” should be set
when the PVm is at setpoint
 Commonly found in slow-response process control, e.g.
temperature, pH, composition controls
PVm
SP

PD

P-only

Small P

time

PID Control 22
 Maret 2005

Proportional-Integral-Derivative Mode (1)

 Combine the best feature of P, I, and D terms

11
TTmm
 dt
SP e + CO
+ +
PP
+
d
D
D dt

PVm

1 de
CO = P (e +
Tme dt + D dt )
PID Control  23
 Maret 2005

Proportional-Integral-Derivative Mode (2)

P-only – notice the offset

P and I – offset gone

P, I and D – best

time

PID Control 24
 Maret 2005

Bentuk-Bentuk Lain Cara Penulisan PID

MATLAB menggunakan persamaan:
P+I/s+Ds
Artinya
P * e + I * ∫e dt + D * de/dt
(perhatikan perbedaan I dan Tm, dan perhatikan satuan Tm
dan D dalam menit  harus dikonversi jika dijadikan
detik)

Buku STEPHANOPOULOS menggunakan

CO = Kc * ( e + 1/i * ∫ e dt + d * de/dt ) atau
CO = Kc * e + Kc /i * ∫ e dt + Kc * d * de/dt

PID Control 25
 Maret 2005

Additional PID Concepts

Interactive vs. Non-interactive PID Algorithm
 Refer to interaction between the reset and derivative
terms
 Also known as ‘series’ or ‘parallel’
 Almost all analog controllers are interactive
 Many digital controller are non-interactive, some are
interactive
 The only difference is in the tuning of controller with
derivative

PID Control 26
 Maret 2005

Reset Windup (1)

 All actuators have limitations:
• Ex.: A motor has limited speed, a valve cannot be more than fully opened
or fully closed
 Windup phenomena is caused by the interaction of
integral action and saturations
 When this happens the feedback loop is broken and the
system runs as an open loop because the actuator will
remain at its limit independently of the process output
• If a controller with integrating action is used, the error will continue to be
integrated. This means that the integral term may become very large or,
colloquially, it “winds up”
• It is then required that the error has opposite sign for a long period before
things return to normal
• The consequence is that any controller with integral action may give large
transients when the actuator saturates

PID Control 27
 Maret 2005

Reset Windup (2)

y
PVm
ysp
SP

c
CO

Time

 Note that controller output saturates causing area “A” to accumulate

by the integral action
 After the disturbance returns to its normal level, the controller output
remains saturated for a period of time causing an upset in PVm
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 Maret 2005

Anti-Reset Windup

ySPsp y
PVm

c
CO

Time
 When the manipulated variable saturates, the integral is not allowed
to accumulate
 When control returns, the controller takes immediate action and the
process returns smoothly to the setpoint
PID Control 29
 Maret 2005

Methods for Anti-Reset Windup

 Turn off the integral when a valve saturates or a control
loop is not in use.
 Clamp the controller output to be greater than 0% and
less than 100%.
 Apply internal reset feedback
 Apply external reset feedback

PID Control 30
 Maret 2005

Bumpless Transfer (1)

 Practically all controllers can be run in two modes:
manual or automatic
 When the system is in manual mode, the control algorithm
produces a control signal that may be different from the
manually generated control signal, or vice versa. It is
necessary to make sure that the two outputs coincide at
the time of switching. This is called bumpless transfer
 With bumpless transfer, an internal setpoint is used for
the controller and the internal setpoint is ramped at a slow
rate from the initial conditions to the actual desired
setpoint to order to provide a smooth startup of a control
loop

PID Control 31
 Maret 2005

Bumpless Transfer (2)

 Comparison of true and internal setpoint

True Setpoint

Internal Setpoint

Time

PID Control 32
 Maret 2005

Bumpless Transfer (3)

 Control Performance with and without bumpless transfer

w/o bumpless transfer

w/ bumpless transfer

Time

PID Control 33
 Maret 2005

Derivative on Process Rather than Error (1)

The Facts:
• A step change in the set point results in a step change in the process
• The derivative term acts on the rate of change of the error
• The rate of change of a step change is very large
• An operator step change of the setpoint would causes a very large change in
the output, upsetting the process

Derivative
Spike
MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using standard PID

PID Control 34
 Maret 2005

Derivative on Process Rather than Error (2)

Solution: Let derivative act only on process rather than
error
11
TTmm
 dt
SP e + CO
+ +
PP

d
PP .D
D dt

PVm

1 dPVm
CO = P (e +
Tm )  .
e -P D
dt
PID Control  35
 Maret 2005

Derivative on Process Rather than Error (3)

 Process variable and valve response to a setpoint change

MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Derivative on Process Measurement” PID

PID Control 36
 Maret 2005

Derivative on Filtered Process

Rather than Process (1)
The Fact:
• The derivative mode is hypersensitive to noise

PID Control 37
 Maret 2005

Derivative on Filtered Process

Rather than Process (2)

PID Control 38
 Maret 2005

Gain on Process Rather than Error (1)

The Facts:
• In applications with high gain, a step change can result in a sudden, large
movement in the valve
• Not as severe as derivative effect, but still can upset the process

MV

Gain
response
SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Gain on error and Derivative on Process Measurement” PID

PID Control 39
 Maret 2005

Gain on Process Rather than Error (2)

Solution: Let gain act only on process rather than error

SP e
+ PP
TTmm
 dt
+ CO
PP

d
PP .D
D dt

PVm

P dPVm
CO =
Tm 
e dt + P ( PVm +
dt
)
PID Control  40
 Maret 2005

Gain on Process Rather than Error (3)

 Process variable and valve response to a setpoint change

MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Gain and Derivative on Process Measurement” PID

PID Control 41
 Maret 2005

Digital PID Algorithms (1)

 Data acquisition concepts
Sampled signal Original signal

Continuous signal
t
sample

t Sampled signal Original signal

t = sampling time
2t

Shannon’s sampling theorem:

The sampling frequency must be greater or equal to two times of the highest
frequency occurring in the signal to be sampled
PID Control 42
 Maret 2005

Digital PID Algorithms (2)

 Integral  Derivative
de ei – ei-1
e dt  t .  ei 
dt t

1 de
Continuous form: CO = P (e +
Tm 
e dt + D dt )

t D
Digital form: CO = P [ei + T
m
 ei + t (ei – ei-1) ]

i = sampling instant
PID Control 43
 Maret 2005

Digital PID Algorithms (3)

 Two forms of digital PID algorithms:
• Positional form

t D
COi = P[ ei +T
m
 ei dt + t (ei – ei-1) ]

• Velocity form
 Inherently have anti reset windup feature

t D
COi = COi-1 + P [ (ei – ei-1) + ei + t (ei – 2ei-1+ei-2) ]
Tm

PID Control 44
 Maret 2005

Several Offered PID Algorithms (1)

Distributed Control System (DCS)
 Honeywell TDC 3000
• Offers 4 (four) PID equations; A, B, C, and D

TDC 3000 P mode I mode D mode

Algorithm A Error Error Error

Algorithm B Error Error Measurement

Algorithm C Measurement Error Measurement

Not used
Algorithm D Not used Error

PID Control 45
 Maret 2005

Several Offered PID Algorithms (2)

Distributed Control System (DCS)
 Foxboro I/A Series
 Yokogawa Centum CS 3000
 Bailey
 ABB

PID Control 46
 Maret 2005

Several Offered PID Algorithms (3)

Programmable Logic Controller (PLC)
 Modicon 984

TDC 3000 P mode I mode D mode

P-only

PI

PID

PID Control 47
 Maret 2005

Several Offered PID Algorithms (3)

Programmable Logic Controller (PLC)
 Modicon
 Allan-Bradley
• PLC-5
• SLC500
 Siemens
 Fuji Electric

PID Control 48
 Maret 2005

Guidelines for Common Control Loops (1)

Flow and liquid pressure control

 Fast response with no time delay (no pipe/transportation)
 Usually with small high-frequency noise
 PI controller with intermediate controller gain

Liquid level control

 Noisy due to splashing and turbulence
 High gain, low integral action of PI controller for
integrating process
 Conservative setting for averaging control when it is used
for damping the fluctuation of the inlet stream

PID Control 49
 Maret 2005

Guidelines for Common Control Loops (2)

Gas pressure control
 Usually fast and self regulating
 PI controller with small integral action (large reset time)

Temperature control
 Wide variety of the process nature
 Usually slow response with time delay
 Use PID controller to speed up the response

PID Control 50
 Maret 2005

Guidelines for Common Control Loops (3)

Composition control
 Similar to temperature control usually with larger noise
and more time delay
 Effectiveness of derivative action is limited
 Temperature and composition controls are the prime
candidates for advance control strategies due to its
importance and difficulty of control

PID Control 51
 Maret 2005

Session Summary
 PID control, which is the most widely used control
algorithm in process control application, comes in different
forms and terms
 Each of the terms of the PID equation must be
understood to obtain a right combination of the PID
control elements for various process control application
objectives

PID Control 52