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Pid Controller

A PID controller calculates an error value as the difference between a measured process variable and desired setpoint. It then uses proportional, integral and derivative terms to minimize the error by adjusting the control inputs. The weighted sum of these three actions is used to maintain the process variable at the setpoint. Tuning the gains for each term allows the controller to provide the desired control for specific process requirements while maintaining stability.

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Harshal Inamdar
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261 views20 pages

Pid Controller

A PID controller calculates an error value as the difference between a measured process variable and desired setpoint. It then uses proportional, integral and derivative terms to minimize the error by adjusting the control inputs. The weighted sum of these three actions is used to maintain the process variable at the setpoint. Tuning the gains for each term allows the controller to provide the desired control for specific process requirements while maintaining stability.

Uploaded by

Harshal Inamdar
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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By

Harshal Inamdar
 A proportional–integral–derivative controller is a control
loop feedback mechanism widely used in industrial
control systems.

 A PID is the most commonly used feedback controller.

 A PID controller calculates an "error" value as the


difference between a measured process variable and a
desired set point. The controller attempts to minimize the
error by adjusting the process control inputs.
 The PID controller calculation involves
three separate parameters, and is
accordingly sometimes called three-term
control: the proportional, the integral and
derivative values, denoted P, I, and D.
 P depends on the present error, I on the
accumulation of past errors, and D is a
prediction of future errors, based on current
rate of change.
 The weighted sum of these three actions is
used to adjust the process variable.
 By tuning the three constants in the PID controller
algorithm, the controller can provide control action
designed for specific process requirements.

 This section describes the parallel or non-


interacting form of the PID controller.

 MV(t)= Pout + Iout + Dout


Where
Pout, Iout, and Dout are the contributions to
the output from the PID controller from each of the
three terms.
 The proportional term is given by:

Where
Pout: Proportional term of output.
Kp: Proportional gain, a tuning parameter.
PV: Process value (or process variable), the
measured value.
e: Error = SP – PV.
t: Time or instantaneous time (the present)
 A high proportional gain results in a large
change in the output for a given change in the
error.
 If the proportional gain is too high, the system
can become unstable.
 In contrast, a small gain results in a small
output response to a large input error, and a
less responsive (or sensitive) controller. If the
proportional gain is too low, the control action
may be too small when responding to system
disturbances.
 The contribution from the integral term is
proportional to both the magnitude of the error and
the duration of the error.
 Summing the instantaneous error over time
(integrating the error) gives the accumulated offset
that should have been corrected previously.
 The accumulated error is then multiplied by the
integral gain and added to the controller output.
 The magnitude of the contribution of the integral term
to the overall control action is determined by the
integral gain, Ki.
 The integral term is given by:

where
Iout: Integral term of output
Ki: Integral gain, a tuning parameter
SP: Set point, the desired value
PV: Process value (or process variable), the measured
value
e: Error = SP − PV
t: Time or instantaneous time (the present)
 The integral term (when added to the proportional
term) accelerates the movement of the process
towards setpoint and eliminates the residual
steady-state error that occurs with a proportional
only controller.
 However, since the integral term is responding to
accumulated errors from the past, it can cause the
present value to overshoot the setpoint value.
 The rate of change of the process error is
calculated by determining the slope of the error
over time and multiplying this rate of change by
the derivative gain Kd.
 The derivative term is given by:
where
Dout: Derivative term of output
Kd: Derivative gain, a tuning parameter
SP: Setpoint, the desired value
PV: Process value (or process variable), the
measured value
e: Error = SP − PV
 The derivative term slows the rate of change of the
controller output and this effect is most noticeable
close to the controller setpoint.
 Hence, derivative control is used to reduce the
magnitude of the overshoot produced by the
integral component and improve the combined
controller-process stability.
 The proportional, integral, and derivative terms are
summed to calculate the output of the PID
controller. Defining u(t) as the controller output,
the final form of the PID algorithm is:
 Tuning parameters are:
 Proportional gain, Kp :Larger values typically mean
faster response since the larger the error, the larger the
proportional term compensation.
 An excessively large proportional gain will lead to
process instability and oscillation.

 Integral gain, Ki :Larger values imply steady state


errors are eliminated more quickly.
 The trade-off is larger overshoot: any negative error
integrated during transient response must be integrated
away by positive error before reaching steady state.
 Derivative gain, Kd :Larger values decrease
overshoot, but slow down transient response and
may lead to instability due to signal noise
amplification in the differentiation of the error.
 If the PID controller parameters (the gains of the
proportional, integral and derivative terms) are
chosen incorrectly, the controlled process input
can be unstable, i.e. its output diverges.
 Instability is caused by excess gain.
 So, for stability, gain must not be too large.
 Generally, stability of response is required and the
process must not oscillate for any combination of
process conditions and setpoints, though
sometimes marginal stability (bounded oscillation)
is acceptable or desired.
 Problem faced with PID controllers is that they are
linear, and in particular symmetric. Thus,
performance of PID controllers in non-linear
systems is variable.
 In this case the PID should be tuned to be over
damped, to prevent or reduce overshoot.

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