Pid Controller Algorithm
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PID Controller Algorithm
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http://www.expertune.com/contType.html
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What ExperTune Needs to Know About Your PID Algorithm ExperTune Analysis and Tuning software includes a database of over 500 industrial PID controllers. If you have a controller that is not in our list we would like to add it for you. With detailed information about the controller, we can accurately tune and simulate its response with your process. To add a new controller, we need documentation describing it.
GET MORE INFO Request Quote On-Line Presentation Get Payback CD CUSTOMERS TALK
There simply is no way to analytically tune a controller if you do not know the type of algorithm and the units.
The Difference Equation is the best Ideally the most complete information on the controller is the difference equations. These equations describe the digital operation of the controller as implemented in software. For example, here are the difference equations for a simple PID controller: et = PVt - SPt xt = xt-1 + et-1 T / I yt = Gain[et + xt + (et - et-1) D / T] Where: PV = process variable SP = set point yt = controller output xt = temporary variable T = controller sample interval (NOTE: This simple example has no reset windup, no derivative gain limit and has derivative action on error.) With this information we can very accurately simulate and tune your controller.
Laplace Domain Equation If you can't get the difference equation then we need a Laplace domain equation that describes the controller. Something like this, for example: X = Gain[E s + E/(I s) + D s] (NOTE: Again this a simplified example.)
Other information we need Does the controller use: Proportional band or Gain? What are the units on the controller integral action: min/rep, rep/min, sec/rep or rep/sec? What are the units on the controller derivative action: min, sec? Does the controller use multipliers on the gain, integral and derivative? For example on some controllers, when you dial in 2000 for the gain, the actual gain is 2. This example has an implied decimal point. What other controller options are there for this algorithm. Does it have a gain on PV or gain on error option? Does it have a D on PV or D on error option?
If you do not have the difference equation we also need Laplace domain equation (s domain) above.
9/16/2008 9:40 AM
PID Controller Algorithm
2 of 2
http://www.expertune.com/contType.html
Does the controller use anti-reset windup? If so, describe how it works. Does the controller use a D gain limit or derivative filter? If so, what is the time constant of the filter in proportion to the D action?
If you do not have the difference equation or the Laplace equation We will need to know the name of the type of algorithm used. Is it ideal, parallel or series? Relying on this answer is risky, since there are no standards. See Comparison of PID Control Algorithms
Other useful stuff we'd like What are the allowable ranges for P, I, and D? © 1999–2008 ExperTune Inc. Lake Country Research Center 1020 James Drive, Suite A Hartland WI 53029-8305 USA Telephone +1 (262) 369 7711 • Fax +1 (262) 369 7722
9/16/2008 9:40 AM
1 of 2
http://www.expertune.com/contType.html
Home
Industries
Products
Case Studies
Library
Training
Search
Contact Us
About Us
Product Details Sign up for an educational Webinar.
What ExperTune Needs to Know About Your PID Algorithm ExperTune Analysis and Tuning software includes a database of over 500 industrial PID controllers. If you have a controller that is not in our list we would like to add it for you. With detailed information about the controller, we can accurately tune and simulate its response with your process. To add a new controller, we need documentation describing it.
GET MORE INFO Request Quote On-Line Presentation Get Payback CD CUSTOMERS TALK
There simply is no way to analytically tune a controller if you do not know the type of algorithm and the units.
The Difference Equation is the best Ideally the most complete information on the controller is the difference equations. These equations describe the digital operation of the controller as implemented in software. For example, here are the difference equations for a simple PID controller: et = PVt - SPt xt = xt-1 + et-1 T / I yt = Gain[et + xt + (et - et-1) D / T] Where: PV = process variable SP = set point yt = controller output xt = temporary variable T = controller sample interval (NOTE: This simple example has no reset windup, no derivative gain limit and has derivative action on error.) With this information we can very accurately simulate and tune your controller.
Laplace Domain Equation If you can't get the difference equation then we need a Laplace domain equation that describes the controller. Something like this, for example: X = Gain[E s + E/(I s) + D s] (NOTE: Again this a simplified example.)
Other information we need Does the controller use: Proportional band or Gain? What are the units on the controller integral action: min/rep, rep/min, sec/rep or rep/sec? What are the units on the controller derivative action: min, sec? Does the controller use multipliers on the gain, integral and derivative? For example on some controllers, when you dial in 2000 for the gain, the actual gain is 2. This example has an implied decimal point. What other controller options are there for this algorithm. Does it have a gain on PV or gain on error option? Does it have a D on PV or D on error option?
If you do not have the difference equation we also need Laplace domain equation (s domain) above.
9/16/2008 9:40 AM
PID Controller Algorithm
2 of 2
http://www.expertune.com/contType.html
Does the controller use anti-reset windup? If so, describe how it works. Does the controller use a D gain limit or derivative filter? If so, what is the time constant of the filter in proportion to the D action?
If you do not have the difference equation or the Laplace equation We will need to know the name of the type of algorithm used. Is it ideal, parallel or series? Relying on this answer is risky, since there are no standards. See Comparison of PID Control Algorithms
Other useful stuff we'd like What are the allowable ranges for P, I, and D? © 1999–2008 ExperTune Inc. Lake Country Research Center 1020 James Drive, Suite A Hartland WI 53029-8305 USA Telephone +1 (262) 369 7711 • Fax +1 (262) 369 7722
9/16/2008 9:40 AM
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