25/06/2013

1
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10 Tips for Tuning
of PID Loops
By
Steve Mackay
www.eit.edu.au
Objectives
Concept of tuning
Ziegler Nichols classical rules
Practical closed and open loop strategies
Cascade loops
Dead time issues
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1 - Mininize InlegiaI of eiioi
Objectives of Tuning (1)
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2 - Mininize AnpIilude of eiioi squaied
Objectives of Tuning (2)
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3 - Mininize veai and leai
4 - No oveishool al Slail Up
5 - Mininize effecl of knovn disluilances
Other Aspects of Tuning (3,4,5)
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Loop Controller and Process
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1. Iul conlioIIei in
manua! node
2. Make a stcp changc
lo lhe OI vaIue
3. Olseive Reaclion
Cuive
4. CaIcuIale lining
conslanls
Reaclion cuive
Steps of Open Loop Tuning
(Reaction Curve)
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Open Loop Tuning Method (2)
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I - ConlioI
II - ConlioI
IID - ConlioI
( )
=

OP
N L
%
( )
=

=
0 9
3
.
%
int
OP
N L
T L
( )
=

=
=
12
2
05
.
%
.
int
OP
N L
T L
T L
der
This image cannot currently be
displayed.
This image cannot currently be
displayed.
K
C
Reaction Curve Calculations
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- Iind ciilicaI vaIue of K foi conlinuous osciIIalions
- Do nol use I oi D - conlioI
- Olseive ciilicaI fiequency foi 18O phase shifl
- SlaliIize Ioop ly ieducing K and ensuie lhal I & D
- conlioI sliII gives a phase Iead
Continuous Cycling - Ziegler & Nichols
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P-only for Continuous Cycling Method
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Reaction Curve Method (Ziegler & Nichols)
If ve knov lhe exacl vaIue of lhe effeclive Iag
of an indusliiaI piocess, lhen ve aie in lhe posilion
lo find lhe fiequency nalching vilh lhe 18O phase
shifl (and lhence oplinun luning conslanls).
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1. Iul conlioIIei in I - conlioI onIy
2. I - conlioI on LRR = (SI - IV)
3. ConlioIIei in Aulo
4. Slep change lo SI
5. DoulIe vaIue of K unliI conlinuous cycIing
6. CaIcuIale luning conslanls
Continuous Cycling Method
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I - ConlioI
II - ConlioI
IID - ConlioI
K K
C U
= 05 .
K K
T
P
C U
U
=
=
0 45
12
.
.
int
K K
T
P
T
P
C U
U
der
U
=
=
=
0 6
2
8
.
int
Calculation of Tuning Constants
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First Order Lag
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First Order Lag Response Curve
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Vaiialion on conlinuous cycIing ....
lo avoid dangei lo piocess ...
lul danped osciIIalions aie acceplalIe
iequiies sone suljeclive evaIualion
Damped Cycling Method
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Damped Oscillation Decay Ratio
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1. Iul conlioIIei in I - conlioI
2. I - conlioI on LRR = (SI - IV)
3. ConlioIIei inlo Aulo
4. DoulIe K unliI osciIIalions.
5. Teininale innedialeIy
6. CaIcuIale luning conslanls
Steps of Damped Cycling Method
Lslinale danping of osciIIalion
Conveil I inlo I
u
using diagian
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Conveil I inlo I
u
using diagian
Lslinale danping
of osciIIalion
(d) ... O.5 acceplalIe
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II - ConlioI
IID - ConlioI
( )
T
P R
d d
int
.
=

12
R
P
p
d
u
=

( )
( )
T
P R
T
P R
d d
der
d d
int
=

=

2
8
K deleinined ly good judgenenl.....
Calculate Tuning Constants
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Vaiialion of conlinuous cycIing nelhod
When no oveishool even foi slail-up is
peinilled (nanuaI aulo)
Tuning for NO Overshoot on Start-up
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Sane as foi conlinuous cycIing
IoinuIa foi IID - conlioI
K K
T
P
T
P
C U
U
der
U
=
=
=
0 2
3
2
.
int
Formula for NO Overshoot on Start-up
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Vaiialion of conlinuous cycIing nelhod
No oveishool duiing noinaI noduIaling
conlioI onIy
Tuning for SOME Overshoot on Start-up
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Sane as foi conlinuous cycIing
IoinuIa foi IID - conlioI
K K
T
P
T
P
C U
U
der
U
=
=
=
033
2
3
.
int
Formula for Some Overshoot on Start-up
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Single Loop Temperature
Control
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Two Controller Basic Cascade
Control
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Tuning of Cascade Loops
FRQW
Cascade Control - Secondary Controllers
Mainly flow controller
No D - control as mainly stable
K < 1
Cascade Control - Primary Controllers
Mainly PID controller
Careful stability considerations
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Long Process Deadtime
in Closed Loop Control &
The Smith Predictor
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Process Deadtime
Difficult problem to overcome long
deadtime in feedback control loop
Especially when deadtime more than 20%
of total time taken for PV to settle to its
new value after last setpoint change
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Example of Process Deadtime
Illustration of a long conveyor system giving an
excessive deadtime to the control loop
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Overcoming Process Deadtime
Depends on operating requirements of
process
Easiest solution: de-tune controller to
slower response rate so that controller will
not over compensate unless deadtime
excessively long
ntegral mode of controller very sensitive
to deadtime since during period of PV
inactivity, integrator ramps output
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LeveI ConlioI
Mainlain fIov as
conslanl as possilIe
lo dovnsliean
equipnenl
Mediun iesponse
Tune as sIovIy as possilIe vilhoul oveifiIIing oi enplying
lhe lank
Choice of Tuning Constant (1)
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IIov ConlioI
Mainlain conslanl fIov
Ain foi fasl iesponse
SnaII piocess Iag in syslen
Tune foi fasl as possilIe iesponse
Choice of Tuning Constants (2)
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Tenpeialuie ConlioI
Mainlain a sleady lenpeialuie
Majoi piocess Iag and dead line in lhe syslen
Tune as quickIy as possilIe vilhoul causing osciIIalions
TC
PV
SP
T2
Outlet
Inlet
Choice of Tuning Constants (3)
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Thank You For Your lnterest
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