Overview On PID
Controller
A PID (Proportional-Integral-
Derivative) controller is a feedback
control mechanism widely used in
industrial control systems to regulate
processes. It combines three essential
components: Proportional, Integral, and
Derivative. These components work
together to minimize the error between a
desired setpoint and the actual output.
PID Controller
01. Basic Concept of PID Controller
The PID controller calculates an output (control variable)
based on the error signal, which is the difference between the
desired setpoint (SP) and the process variable (PV):
The PID control law is:
Where:
u(t): Control output.
Kp: Proportional gain.
Ki: Integral gain.
Kd: Derivative gain.
e(t): Error signal.
PID Controller
02. Components of PID
a. Proportional Control (Kp)
Provides control output proportional to the error.
It helps reduce large errors quickly.
Limitation: It cannot eliminate steady-state error.
b. Integral Control (Ki)
Accumulates past errors over time and integrates them.
Eliminates steady-state error.
Limitation: Excessive Ki can cause oscillations.
PID Controller
c. Derivative Control (Kd)
Responds to the rate of change of the error.
Improves stability and predicts future errors.
Limitation: Noise sensitivity.
03. Tuning a PID Controller
Tuning involves selecting optimal Kp, Ki and Kd values.
Popular tuning methods include:
a. Ziegler-Nichols Method
1. Set Ki and Kd to zero.
2. Increase Kpuntil the system oscillates.
3. Calculate Kp, Ki, and Kd using predefined rules.
b. Trial and Error
1. Adjust Kp, Ki, and Kdincrementally until the desired
performance is achieved.
PID Controller
04. PID Controller Implementation
PID controllers can be implemented in various forms, such as:
Hardware-based: Using analog circuitry.
Software-based: In microcontrollers or PLCs.
Discrete PID Implementation
The discrete form is commonly used in digital systems:
Where Δt is the sampling time.
05. Advantages of PID Controller
Easy to understand and implement.
Suitable for a wide range of applications.
Provides good stability and performance.
PID Controller
06. Limitations of PID Controller
Requires precise tuning.
Struggles with nonlinear systems or systems with high
noise.
May require additional filters for noisy environments.
07. Applications
Temperature control (e.g., ovens, HVAC systems).
Speed control of motors.
Process control in chemical industries.
Robotics and autonomous vehicles.
08. Practical Example
Example: Temperature Control of a Heater
Setpoint: Desired temperature (e.g., 100°C).
Process variable: Current temperature (e.g., 90°C).
PID adjusts the heater's power to reach the setpoint.
PID Controller
09. Example C Code: PID Controller
Here is a basic example of implementing a PID controller in C
to control the speed of a motor. This example assumes you
have sensors to read the actual speed and an actuator to
control the motor's power.
PID Controller
How It Works
PID Parameters: You can adjust Kp, Ki, and Kd values
to tune the controller for your system.
Error Calculation: The difference between the desired
setpoint and the actual process variable is calculated.
PID Terms: Proportional, Integral, and Derivative terms
are computed using the error.
Control Output: The sum of these terms provides the
control signal to drive the actuator (e.g., motor).
Simulation: A simple function simulate_motor is used to
test the PID controller without actual hardware.
Sample Output: For a setpoint of 100 RPM and starting from
0 RPM, the output might look like this:
Next Steps
Real System: Replace simulate_motor with real sensor
input and actuator output.
Tuning: Use methods like Ziegler-Nichols to find optimal
PID gains.
Enhancements: Add anti-windup for the integral term or
implement filtering for derivative noise.
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Chetan Shidling
@chetan_shidling_ Save
www.cselectricalandelectronics.com
