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Cheatsheetv2 1 PDF

The document provides steps for tuning PID controllers for both self-regulating and integrating processes. It describes performing open loop step tests, calculating process parameters like gain, time constant and dead time, and provides formulas for converting the tuning constants to different controller algorithms.

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sybaritz
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295 views

Cheatsheetv2 1 PDF

The document provides steps for tuning PID controllers for both self-regulating and integrating processes. It describes performing open loop step tests, calculating process parameters like gain, time constant and dead time, and provides formulas for converting the tuning constants to different controller algorithms.

Uploaded by

sybaritz
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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If there are multiple loops: Determine a testing sequence.

Test the fastest loops first In cascade loops: tune the inner loop and then the outer loop

Tuning Procedure for Self Regulating Loops


Check if MV and PV have a linear relationship. If not - implement linearizer. Perform an Open Loop Step Test : Place controller into Manual a. Wait for process to reach steady state b. Step the controller 2-10% in +ve direction if worried about actuator deadband/stiction c. Perform 2nd +ve step d. Step controller in reverse direction Note: (wait for process to stabilize between each step) Calculate the Hysteresis and Process Gain: a. Measure PV from the response trace b. Measure the Process Disturbance MV from the controller output trace. c. Measure H from the response trace. d. Process Gain: PG =

PV MV

Hysteresis = H (If Hys > 5% then fix your actuator before continuing!) Calculate the Time Constant and Dead Time a. Measure the time-of-step, T0 from controller output trace b. Measure time to 25% change, T25 from the response trace c. Measure time to 75% change, T75 from the response trace d. Time Constant: TC = 0.9(T 75 T 25) e. Dead Time:

DT = (T 75 T 0) (1.4 TC ) + Controller ' sUpdateTime


Calculate the Tuning Constants: (units: P=no units, I = Sec/Rep, D=Sec Algorithm=Ideal)
B

P=

A DT PG TC

I=

TC DT A TC
B

DT D = TC A TC

If Necessary: First Convert to your controllers Algorithm (see overleaf at bottom of page) Then Convert to your controllers units (see blueprint page 22-23).
2008 PID-Tuning.com All Rights Reserved

Tuning Procedure for Integrating Loops


Place the controller into manual a. Perform a short ve pulse to remove backlash in the valve. b. Wait for steady state, then step in a positive direction approximately 10%. c. The PV will start to ramp up. Wait for it to Rise 5-10% d. Make small negative steps (approx 1%) until the PV flatlines. Calculate the Hysteresis Measure H, the hysteresis from the controller Output plot. If H>3%, then fix your valve before continuing. Calculate the deadtime Measure DT from the plots of the controller Output and the PV Calculate the Process Gain First calculate the initial slope of the PV Immediately after the big step. Process Gain: PG =

Calculate your tuning constants Note: use PI control only for integrating processes (units: P=no units, I = Sec/Rep)

Slope MV

P=

1 2 DT PG 4 PG P

I=

D=0
If Necessary: First Convert to your controllers algorithm (see below). Then Convert to your controllers units (see blueprint page 22-23).

Algorithm Conversion Formulas (applies to Self Regulating AND Integrating) If your controller uses a Series Algorithm: If your controller uses a Parallel Algorithm:

D PS = PI 1 + I I I S = I I + DI 1 1 1 + I I DI

PP = PI II PI

IP =

DS =

DP = PI DI
Where PI, II and DI are the values calculated on the previous page and PP, IP and DP are the values for use in a Parallel algorithm

Where PI, II and DI are the values calculated other page and PS, IS and DS are the values for use in a Series algorithm

2008 PID-Tuning.com All Rights Reserved

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