APPLICATION NOTE PID Control Tutorial OVERVIEW PID is an acronym for proportior band, integral and derivative. This ‘control action allows a measurement (process variable) to be controlled at 2 desired set point by continuously adjusting a control output. These control parameters act on the error or deviation between set point and process variable P Proportional Band in % 1 integral Time in secirepeat D Derivative Time in seconds PROPORTIONAL CONTROL With proportional band, the controller ‘output changes in “proportion” to the ertor between process variable and set point. The amplitude of the ‘change is adjustable from 1% to 999.9%, Control Output (error[100 PB. Refer to Figure 1 below. This example of a temperature controller shows a propertional band setting of 5%. ‘Set point = 509 ‘Measurement range = 0-1000° 15% PB = 5% of 1000° = 50° 100% output et 475° (2.5% of 1000°) (0% output at £25° (2.5% of 1000") 50% Proportional Band up 0% ow Temperature ae YOKOGAWA @ ‘Yokogawa Corpontion of America Ifthe process variable equals the set point (500°), there is a 50% output, As the temperature decreases, the proportional band increases the ‘output linearly toward 100% as the temperature falls toward 475°. The output decreases below 50% as the temperature rises toward 525°. In this example, a small change in temperature provides a large change in output. Ifthe setting is too small for the process dynamics, oscillations will occur and will not settle at set point. A large PB setting makes the controller act sluggish and will not respond adequately to Upsets. Since proportional contro! does not incorporate the time thiat thé error has existed, there will always be an offset from set point Typically, flow or pressure controllers have a much larger Measurement Range: 0 1000" Figure 1 ‘25° proportional setting due to a possible narrower measurement range and fast process reaction to a change in the control output. For example, a flow controller may have an input range of Oto 60gpm and a set point of 30gpm, ‘Measurement range = 60gom s0gem (00% of 60 = 60gpm 100% output at Ogom (0% output at 60gpm PROPORTIONAL + MANUAL, RESET To eliminate the inherent offset ‘observed with proportional control, a manual reset function can be used Virtually no process requires Precisely 50% output to maintain the process variable atthe set point, An offset will be present. Manual reset allows the user to bias the output ‘accordingly to compensate for the steady state offset using P only Refer to Figure 2 below. PROPORTIONAL + AUTOMATIC RESET (INTEGRAL) Automatic reset or integral action corrects for any offset between set point and process variable automatically by shifting the proportional band over a pre-defined lime. The integral time repeats the proportional action over the time set. Integral redefines the output requirements al the set point unt ccUT-6-028, 01-01APPLICATION NOTE the process variabe and set point are equal. integral engineering units vary by controler manufacturer Some use repeatsiminute (reset rate), minutesirepeat or secondsirepeat. In Figure 3 below, secondsirepeat is used. The integral term is added as follows: Control Output PB TI ‘The smaller the integral number, the proportional action will be repeated ‘more often. if integral is too small, the process variable wil oscilate through set point and create erratic control action. Ifthe number is too large, the action wil be sluggish and tunable to compensate for process upsets. “The integral number sould be spororiatly Sten the cadig tie ofthe process varabio. I the output is manvally changes, dead forthe praboss variable to italy react ater the change. -Thelength of time thatiLtakes forthe process variable to stabilizo at a steady stato is ag ime. Example: 40 sec (deadilag) x = 200 secirepeat Output 8 y Error (error) 100 +.1_J (error)at —— Ke 4 omoran ) egal Tie Saar PROPORTIONAL + INTEGRAL + DERIVATIVE Derivative action is used primarily in processes with long dead and lag times. This control function looks at the rate of change of the error and adjusts the control output based on that rate, The derivative term is added to the control algorithm as follows: Using derivative (solid line), the control output jumps up, rises in a ramp and then falls back to proportional control action when the terror becomes constant. In essence, it applies the "brakes" on the process error by quickly shifting the proportional band. Derivative has no effect on the output if the error is not changing. The derivative term should be approximately % the integral time, Control Output = (error) 100 +1 J error + TD fertorid PB Ti The amount of derivative added to the contro! output is based in time Units. Figure 4 below shows how derivative acts on the proportional band. The dashed line shows a proportional only control due to a process variable error from set point. Output Time { Integral Acton tr} 1} eta dt Derivative is typically not used in control loops with short deadtag time, e. g., low or pressure. This is an anticipatory action that will contribute to the inherent instability of these fast acting control loops. Deva Action Proportional Acfon Desivatve Time Constant, YOKOGAWA ‘Yokegawa Corporation of Amotica ccUT-6.028 01-01What is PID - Tutorial View this I page | ExperTune Home Page What Is PID—Tutorial Overview PID stands for Proportional, Integral. Derivative. Controllers are designed to eliminate the need for continuous operator attention. Cruise control in a car and a house thermostat are common examples of how controllers are used to automatically adjust some variable to hold the measurement (or process Variable) at the set-poin, The set-point is where you would like the measurement to be. Error is defined as the difference Delween set-point and measurement, (crror) = (set-point) - (measurement) The variable being adjusted is called the manipulated variable which usually is equal to the output of the controller. The output of PID controllers will change in response to a ‘change in measurement or set-point, Manufacturers of PID controllers use different names to identify the three modes. These equations show the relationships: Proportional Band = 100/gain 1 Integral = 1/reset (units of time) > Derivative = rate = pre-act (units of time) Depending on the manufacturer. integral or eset action is set in either time/repeat or repeat/time. One is just the reciprocal ofthe other. Note that manufacturers are not consistent and often use reset in units of time/repeal or integral in units of repeaisitime. Derivative and rate are the same. Proportional Band With proportional band. the controller output is proportional to the error or a change in measurement (Gepending on the controller). (controller output) = (err0r)*100/(proportional band) With a preportional controller offset (deviation from set-point) is present, Increasing the controller gain will make the loop go unstable. Integral action was included in controllers fo eliminate this offset, Integral ‘With integral action, the controller output is proportional to the amount of time the error is present. Integral action elininates offset. CONTROLLER OUTPUT = (I/INTEGRAL) (Integral of) (0) d(t) cco SAE eee - [OT <] Geviaion “File YpAxis Ranga *~ Y-Axis Range from set Ga peladinte ag : TAE= 19222 SE = 790055 | P only ~ notice the offzet plotsisnow 3 44 gone, Integral action has clirsnatec the offset. The response i somewhat oscillatory and canbe stabilized some by adding derivative action, (Graphic courtesy of ExperTune Loop Simulator.) http://www.expertune.com/tutor.htm! 2005/06/06What is PID - Tutorial 2/4 a Integral action gives the controller a large gain at low frequencies that results in eliminating offset and “beating down’ load disturbances, The controller phase starts out at -90 degrees and increases to neat 0 degrees althe break frequency. This additional phase lag is what you give up by adding integral action, Derivative action adds phase lead and is used to compensate for the lag introduced by integral action Derivative derivative action, the controller output is proportional to the rate of change of the measurement or error. ‘The controller output is calculated by the rate of change of the measurement with time, on CONTROLLER OUTPUT = DERIVATIVE - at ‘Where m isthe measurement at time t. ‘Some marufacturets use the term rate or pre-act instead of derivative. Derivative, rate, and pre-act are the ssame thing DERIVATIVE RATE = PRE ACT Derivative action can compensate for a changing measurement. Thus derivative takes action to inhibit more ‘rapid changes of the measurement than proportional action. When a load or set-point change occurs, the D1-63 © PID Control Computation Expression The PID control computation expression used in a regulatory control system (analog control system): = 2 fee + fetqater St vite fe A. fetvaero } ao PB ! Mv): Manipuated ouput EW: Devation E(t) = PVA) SV) PV: Process vara SV: Setpoint value Pa: Proportional bands), 1 Integrate 0 Deviate te lt we use the sampling value derived at each interval of the control period forthe above expression, the differential expression of the PID control computation is transformed as follows: 100 aT, TO AMVo= foes Ste Feacseoh 3MVe:——-Manpulates ouputerange ee Deviation En-PUr Sve Pus Process variable Sve Setpoint valve AEs Chango devaton SEnEnEry ar onto pared The subscripts “n’ and “n-1” represent the sample against the control period, it stands for the nth sample or n-1th sample. The above differential expression calculates a change in manipulated output (diference). A new output valve is obtained by adding the current change in manipulated output (AMVs) to the previous manipulated output value (MVo).. © Types of PID Control Computation The PID Controller Block uses the following five PID control algorithms to perform PID. ‘control computation. The actions vary with the characteristics of a controlled system and the purpose of control. + Basic type PID control (PID) + PV proportional and derivative type PID control (I-PD) + PV derivative type PID control (PI-D) + Automatic determination type + Automatic determination type 2