HOW TO SET PID PARAMETERS ?

The most useful and easy way of setting the PID parameters is the ON/OFF method. It consists in the study of the response of the control loop in ON/OFF instantaneous control:

Pb = 0 -

It = 0 - Dt = 0

The PID parameters are then calculated using the formula of Ziegler and Nichols.

ON / OFF CONTROL
Setpoint

Variable

Time

100% 0% Time Output

ON / OFF CONTROL

Setpoint

2A
ria ble

Va

Time

2A = Amplitude of the oscillations T = Period of the oscillations

PID CONTROL

Setpoint

2A
ria ble

Va

Time

The PID parameters are then calculated using the formula of Ziegler and Nichols.

PID CONTROL
Setpoint

2A
ria ble

Va

Time
P Pb It Dt
2A x 100 E

PI
1.2 x 2A x 100 E 3T 4

PID
0.8 x 2A x 100 E T 2 0.1 T

E = Controller scale

PID CONTROL
P Parameter eliminates the oscillations of the process I Parameter eliminates the deviation () between the process variable and the setpoint D parameter increases the speed of reaction of the process after a perturbation

OTHER CONTROL PARAMATERS

MANUEL RESET : _rSt This parameter can be used instead of the automatic integral parameter It must be used for a steady setpoint. Its principle is to shift manually the proportional band
Pb

_rSt = . SP / X1 This formula is valid for a given setpoint and a given Pb

X1

_rSt

If the setpoint or the Pb is changed the manual reset parameter must be calculated again

OTHER CONTROL PARAMATERS

POWER RESET : PrSt This parameter is used to set the position of the Proportional Band around the set point.

SP BP SP BP
When PrSt = 50% the proportional band is centered around the setpoint

OTHER CONTROL PARAMATERS

ANTI RESET : ArSt For most controllers the Integral action is inhibited outside the Proportional Band, to avoid its eventual saturation. The anti reset parameter allows to inhibited Integral parameter inside the Proportional Band Bp This function is useful for thermal process with a very efficient thermal isolation.

SP Integral inhibition ArSt

OTHER CONTROL PARAMATERS

FEEDFORWARD : _FFd Its consists in adding a value automatically calculated to the output of the controller It can be used instead of the I parameter _FFd
Set Point

Yffd

Y
PID
Process Variable (PV)

Process

Yffd = FFd . (SP/Controller range)

OTHER CONTROL PARAMATERS

FEEDFORWARD : _FFd Its principle is to shift automatically the proportional band Pb Yp + Yffd Yp
Yffd

X1

SP

_FFd = 10 000 . (SP-X1) / (X1 . Pb)