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    Pid Velocity For M

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    sanjaysinghcoer
    The document discusses how presenting the proportional-integral-derivative (PID) control algorithm using a "velocity form" by taking the derivative of the positional form makes it easier for engineers to understand, as it resembles the familiar second-order differential equations they learned, with the proportional term becoming velocity, integral becoming position, and derivative becoming acceleration. However, the traditional "positional form" is more commonly used in textbooks and implementations, though the velocity form offers a way to initially introduce the concept that is more familiar and understandable to engineers.

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    Pid Velocity For M

    Uploaded by

    sanjaysinghcoer
    44 views9 pages
    The document discusses how presenting the proportional-integral-derivative (PID) control algorithm using a "velocity form" by taking the derivative of the positional form makes it easier for engineers to understand, as it resembles the familiar second-order differential equations they learned, with the proportional term becoming velocity, integral becoming position, and derivative becoming acceleration. However, the traditional "positional form" is more commonly used in textbooks and implementations, though the velocity form offers a way to initially introduce the concept that is more familiar and understandable to engineers.

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    PID VELOCITY FOR M

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    The document discusses how presenting the proportional-integral-derivative (PID) control algorithm using a "velocity form" by taking the derivative of the positional form makes it easier for engineers to understand, as it resembles the familiar second-order differential equations they learned, with the proportional term becoming velocity, integral becoming position, and derivative becoming acceleration. However, the traditional "positional form" is more commonly used in textbooks and implementations, though the velocity form offers a way to initially introduce the concept that is more familiar and understandable to engineers.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    44 views9 pages

    Pid Velocity For M

    Uploaded by

    sanjaysinghcoer
    The document discusses how presenting the proportional-integral-derivative (PID) control algorithm using a "velocity form" by taking the derivative of the positional form makes it easier for engineers to understand, as it resembles the familiar second-order differential equations they learned, with the proportional term becoming velocity, integral becoming position, and derivative becoming acceleration. However, the traditional "positional form" is more commonly used in textbooks and implementations, though the velocity form offers a way to initially introduce the concept that is more familiar and understandable to engineers.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 9

    The velocity of PID

    Inside Process: Proportional-integral-derivative (PID) theory


    is best introduced as the familiar second order differential
    equation via the velocity form instead of the more traditional
    positional form.

    Despite being ubiquitous in industrial


    control system (ICS) usage, the
    proportional-integral-derivative (PID)
    algorithm is a mystery to many. Ask
    an engineer to describe the behavior
    of the D (derivate) term, for instance,
    and some may respond with a blank
    stare.
    Textbooks, seminars, and articles
    often explain the PID control
    algorithm in a form resembling the
    following equation:

    The terms are:


    E = Error, difference between
    setpoint and measurement
    OP = Output to the final control
    element, typically in percent of scale
    P = Proportional term
    I = Integral term
    D = Derivative term
    Kp = Proportional gain
    Ki = Integral gain
    Kd = Derivative gain.
    A different view
    Why is it presented this way? Well, it
    does match the name of the
    algorithm and shows the
    proportional, integral, and derivative
    terms in a simple manner. However,
    this article suggests a different
    approach using velocity instead of
    position.
    A core foundation of an engineering
    curriculum is differential equations.
    Once engineering students grasp
    differential equations, they see them
    used to explain the classic spring-
    mass system in physics and LRC
    circuits in electrical studies. [Of
    course, L stands for inductance, R is
    resistance, and C is capacitance.]
    Engineering graduates are very
    familiar with the spring-mass system
    and LRC circuits. That’s because
    they are the same mathematically.
    They are second-order differential
    equations. A lot of real world
    applications are second order
    differential equations, so the ability
    to comprehend the common
    mathematical foundations makes it
    easy to understand and remember.
    Textbooks describing the PID
    algorithm present it as a differential
    equation, but not in the same way as
    the spring-mass or LRC circuit. Even
    though it is the same second-order
    differential equation, its presentation
    and explanation differ. To match the
    more familiar presentation, it would
    be shown as:

    The only change made was to take


    the derivative of the prior equation.
    The original form of the equation is
    the positional form. Taking the
    derivative of a position over time
    creates velocity. Therefore, the latter
    presentation is the velocity form.
    When doing so, the proportional (P)
    term becomes a velocity (V) term;
    the integral (I) term becomes a
    positional (P) term; and the
    derivative (D) term becomes an
    acceleration (A) term. Position,
    velocity, and acceleration (PVA) are
    very familiar terms. To make it more
    familiar, the order has been
    rearranged:

    Note: the PVA equation looks like


    the very familiar second order
    differential equations. It makes the
    contribution of each term much
    easier to understand. Explaining it
    with the PVA approach can help
    engineers with a rudimentary or
    even no knowledge of PID to better
    grasp the concepts. (See sidebar:
    "First real understanding of PID.") 
    Velocity form comments
    However, there are obvious caveats
    to explaining the algorithm with the
    velocity form:
     Historical momentum perpetuates
    the traditional presentation.
    Textbooks using the positional
    form are abundant, and the few
    that mention the velocity form do
    so in passing.
     The way the algorithm is
    implemented in control systems is
    the positional form. In addition,
    the implementation is more
    complex than a simple addition of
    three terms. Filtering of the
    derivate term, interacting versus
    standard forms, and differing
    actions on setpoint versus
    measurement change are
    common features of the control
    system implementation that add
    to the complexity.
    Despite historical and
    implementation support of the
    positional form, the velocity (PVA)
    form offers a way to introduce the
    algorithm in a more familiar way to
    engineering students and a more
    understandable way to help
    practicing engineers advance their
    engineering prowess, without any
    blank stares.
    Key Concepts
    The proportional-integral-
    derivative (PID) algorithm is well-
    known but can be confusing to
    engineers.
    Using velocity instead of position in
    the PID equation can help clarify the
    concept for engineers.
    While useful, not many use velocity
    to explain PID in textbooks or in the
    field. 
    Consider this
    What other methods can be used
    to help explain and simplify PID to
    engineers?
    First real understanding of PID
    "A couple of years ago I had 15
    minutes to explain the PID algorithm
    to a small group of engineers. Some
    had rudimentary knowledge of it and
    others virtually no experience with it.
    After 15 minutes using the PVA
    approach, they got it! One of them
    said this was the first time he felt he
    really understood how PID worked."

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