To Join the Telephone Conference . . .

 Dial 866-774-1453
 Please specify conference ID 82242495

We will send a link to a recording of

this broadcast following the WebEx session.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 1
Configuring and Using PIDE Instruction
For ControlLogix and CompactLogix Controllers

Bruce Kyer
Commercial Engineer
May 24th, 2012

Rev 5058-CO900B Copyright © 2012 Rockwell Automation, Inc. All rights reserved.
Agenda

1. Introduction

2. Setting Parameters

3. Tuning

4. Things To Keep In Mind

5. Questions?

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 3

Introduction

 This Webinar is a continuation of the November 2011 Webinar. A

recording of that Webinar is available in technical note 463608.

 Technical note 462378 contains the files (presentation and ACD) for this
Webinar and are attached as a ZIP file titled:
“MAY_2012_PIDE_Webinar_Files.zip”

 This presentation focuses on the PIDE, however, many of the concepts

covered apply equally to the ladder PID instruction.

Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri4

PIDE – Some Differences From PID

 The ControlLogix function block PIDE may seem daunting, but really it is
like the Ladder PID with more features:
 Limit rate of change of CV option in Auto mode
 Velocity-based, changes in P do not cause an output bump
 More manual and auto modes
 Cascade Ratio mode
 Hand mode
 Override mode
 Operator and program modes
 PV is assumed to already be scaled. SP range must be subset of PV
range.
 Built-in autotuner
 Self-regulated timing mode

Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri5

Configuring the PIDE
General Config Tab

Mode - If left in Periodic Mode, Equation Gains

PIDE will regulate itself Type need to
be tuned
Control Action -
determines Error and
direction of PIDE output
Calculate using - E or PV
PV Tracking option
Status - Make sure
“OK” is displayed
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri6
Timing Modes

 Periodic – PIDE manages time calculations based on the current task

scan rate

 Oversample – This allows the programmer to enter the PIDE scan rate.
The PIDE then needs to be managed like the ladder PID instruction.

 Real-time – Need to feed the PIDE time stamps from the input module.
The PIDE instruction will coordinate with the input module when the time
stamps update

 See PIDE white paper link at the end of the slide show for further
details on oversample and real-time mode

Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri7

Control Action Parameter

 Determines how the error or “E” is calculated. Error is the difference

between the setpoint and the process variable. PIDE uses error in its
calculations.

 SP – PV
 Used for applications to drive the PV higher like heating, speed, or
flow

 PV – SP
 Used for applications to drive the PV lower like cooling or draining

 If set incorrectly, the PIDE will settle at the high or low output limit

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 8

Calculate Using E or PV

 Determines how the P or D react to setpoint changes

 PV – Only process variable changes will cause change in output. Setpoint

changes will not affect the output.

 E – Either setpoint or process variable changes affect the output

 Choosing PV makes a smoother, slower response to setpoint changes

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 9

PV Tracking

 Acts like the cruise control on your car. Allows operator to get the system
running in manual, then when switched to auto, the PIDE will maintain the
PV where it is.

 Can be used to generate an output that is proportional to error when

returning to auto mode. If output of PIDE is set at 0 in manual, and then a
new setpoint is entered when going to auto, the output will bump
proportional to the error. This is good to kick start some processes.

10
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri
Description of Gains

 Each PIDE gain acts on the error value separately and the results of each
are added together to give the PID output.
 P – Immediate output change based on changes of PV or error.
 I is used to hone in to eliminate the final error and to hold up the
output in the absence of error (since P * 0 = 0).
 D is to react quickly to changes in PV or error. It enhances the P gain
and allows the P gain to be tuned more aggressively. Difficult to use,
especially in presence of a noisy signal.

 Many applications only use the P and I, and no D. D can be hard to tune,
especially in the presence of noise. However, use D when quicker, tighter
control is needed.

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 11

Equation Type Parameter
Equation Type Affects Tuning.
Can Convert Gains Between the Two.

 Independent
 Each gain does not affect the others.
 Can change P gain without affecting D and I behavior.

 Dependent
 P gain change affects I and D behavior.
 Changing P gain makes overall PID more or less aggressive.

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 12

Tuning - Common PID Tuning Methods

 Rule of thumb – or trial and error.

 Search Internet for “PID Tuning”

 Ziegler-Nichols is one commonly used method

 Software
 Built-in PIDE Autotuner (not available in ladder PID).
 Third party like Expertune or ControlSoft for example.

13
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri
PIDE Built In Autotuner

 Included in some versions of RSLogix 5000, also sold separately

 Open Loop Tuner

 Integrating ande non-Integrating models
 Open loop tune

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 14

Things to Watch for

 Non-linear and long lags processes

 PIDE Status says OK

 Bumps

15
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri
PIDE STATUS

Make sure Status says “OK”.

This fault indicates that the
SPProg input is out of range.

16
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri
Bump or Bumpless?

 Most Mode changes are bumpless, but a few are not.

 Program can be written to manage these to make bumpless if needed

 Setpoint Change
 When Calculate Using Proportional is set to E

 Going to Controller Run Mode

 PIDE initializes output with CVInitValue

 Auto to Program Manual

 Program Manual sets output to CVProg, which is not managed by
PIDE unless ProgValueReset is set

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 17

Characterization of Process Type

 Linear
 The output doubles when the input doubles

 Non-Linear
 The output does not always double when input does
 Long lag time

 If non-linear, is PIDE only going to be used over a small portion of the

range; is that portion mostly linear?

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 18

Quick Tips – or – Possible Future Topics

 Feed forward – Can be used to compensate for known process

disturbances before the process variable is affected. Feed forward is
proactive, whereas the PID(E) is reactive.

 Gain scheduling - Can be used when the process characteristics will

change by known amounts. The basic idea is to change the PIDE gains to
match known changing process characteristics.

 RMPS instruction – Can be used to generate a ramp for the PIDE setpoint.

 SRTP instruction - Can be used with the PIDE to generate a discrete

pulsed output based on the PIDE analog output.

19
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri
References

 Using the PIDE Instruction White Paper

 Logix5000 Controllers Advanced Process Control Reference Manual

 Logix5000 Controllers General Instructions Reference Manual

20
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.Copyri
Thank You for Watching!

Follow ROKAutomation on Facebook & Twitter.

Connect with us on LinkedIn.

www.rockwellautomation.com

Rev 5058-CO900B Copyright © 2012 Rockwell Automation, Inc. All rights reserved.
Additional Option with Main Point
and Conclusion
Insert main point. Arial Narrow 24pt, Bold, Italic. Line spacing exactly
26pts. Two lines maximum.

 Bullet, Arial Narrow, 24pts, line spacing before 24pts exactly 30pts
 Sub-bullet, Arial Narrow, 24pts, line spacing before 3pts exactly 24pts
 Sub-sub-bullet, Arial Narrow, 20 pts, line spacing before 3pts exactly 24pts

 Bullet, Arial Narrow, 24pts

 Sub-bullet, Arial Narrow, 24pts
 Sub-sub-bullet, Arial Narrow, 20 pts

Add callout here for conclusion

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 22