Determine periodic stable oscillation.
Whenever a
Introduction
The Manual method described here is a trail and error
procedure to find the desire tuning constants for PID
controllers.
Find the suitable starting tuning constants
Each process has its own dynamic characteristics that
condition the tuning constants. If you do not have any
preliminary tuning constants we have to find some to
start with.
Flow controllers. This are fast processes, therefore
use PI with small gain and fast integral time.
K 0.2-0.8
I 15-45 seg
Pressure Controllers. This are normally very fast
loops, that normally requires PI, high gain and fast
integral time.
K 1-10
I 15-45 seg
Temperature Controllers. Processes normally very
slow that requires Derivative time.
K 1-2
I 60-600 seg
D 15-I/2
Level Controllers. These are integrating processes.
Use PI.
K 1-2
I 300-3000 seg depending on holdup.
Analyzer Control. These processes normally are
very slow and depends mainly on the type of analyzer
and system to control. Therefore it is difficult to give
advice. Dead time is the main controlling parameter.
Normally use PID, unless that the ratio dead time
versus time constant of the process is >1. In this
case, a more robust algorithm is required (smith linear
predictor, model based, IMC, etc.).
change in the gain results in an stable oscilation
(periodic and constant amplitude), you have reach at a
PID Units controller gain that is the same as the ultimate gain
Gain Term Ku. Measure the period of oscillation in the output and
This term multiplies the error in the controller. it will be called as the ultimate period, Pu.
Processes with low process gain will need bigger
controller gain. With the ultimate gain, Ku, and the ultimate period, Pu,
Proportional_Band = 100 / Controller_Gain use Ziegler and Nichols tuning constants for every
type of the controller modes, Proportional, Kc, Integral
Integral Term I and Derivative D:
Value added to the output based on the total error.
Integral value will show how many seconds the
controller will add a proportional term to the output. Ziegler-Nichols Tuning Constants
(attack mode):
Derivative Term
It accounts for the change in the controller error. Kc I D
Closed Loop Tuning Procedure
P control Ku/2
Determine your controller gain direction. If you have
a controller already in place and it is working, skip to PI control Ku/2.2 Pu/1.2
the next paragraph. If you dont have a controller, build
one and determine what should be the controller versus
PID Ku/1.7 Pu/2 Pu/8
your plant. When you increase the output, your plants control
PV increases, then your plant is increased/increased
and your controllers gain should be negative or positive
but your output direction should be negative.
Otherwise, if your plant decrease the PV when you Ziegler-Nichols classical tuning constants are agresive
increase the output. and oscilates. This results in a controller not very
robust to model imprecises. If minor oscillations and
Eliminate the effect of other controller modes. Set robustnest is required, you may use the following
the integral and derivative modes off (normally is table, known as Tyreus and Luyben Tuning
setting derivative to 0 and Integral to 0 or infinite. Constants.
Move the controller gain. Put the controller in AUTO.
Increase the gain Kc of the controller slightly and look to Tyreus-Luyben Tuning Constants:
the response of the output. If the output do not move,
change the SP of the controller slightly. Wait until Kc I D
steady state is reached before new changes in the PI 2.2
controller gain or SP. K /3.2
control u Pu
PID 2.2
K /2.2 P /6.3
control u Pu u
Shinskey proposed the following tuning constants for
less aggressive controller response:

Shinskey Tuning Constants:

Kc I D

P control Ku/2

PI control Ku/2 Pu/2.2

PID Ku/4 Pu/2 Pu/8.3

control
The following figure shows the type of controller
oscillation is due to this method.
Main Limitations of the method
The process is not allow to have big oscillations
The range of the PV or Controller output is small to
see the oscillations.
There is no information in detail about process
dynamics like precense of deat time.
More information in http://www.simcae.com
Factors that affect loop performance
http://www.simcae.com
Below find a list of factors that may affect controller
loop performance. Some of then are inherent to the
process and others are relate to equipment
malfunction. In case of tuning problems you should
check these factors. They can tell you a lot about your
process main characteristics. Manual Tuning
Feedback Process Gain, (high, low)
Feedback Process Dynamics, (fast, slow)
Practice
Process Dynamic Constants Ratio, /(+),
(<<<1, <1) Closed Loop.
Process Inverse Response, (Gain changes

sign)
Disturbance Gain, (small, big)
Ultimate Gain
Disturbance Dynamics, (faster or slower than
process) Method
Final Element, (correct, histeresis, stickness,
slow)
SimCAE Control Team
Sensor, (linearity) webmaster@simcae.com
PV Filtering, (high, low)
Controller period versus process dynamics
Controller Tuning Constants versus Process
Dynamics
Modeling uncertainly
Manipulated Variables range 2005 SimCAE
http://www.simcae.com Process Value Range