1 PID Tuning Guide A Best-Practices Approach to Understanding and Tuning PID Controllers First Edition by Robert C. Rice, PhD Technical Contributions from: Also Introducing:
2 Table of Contents 2 Forward 3 The PID Controller and Control Objective 4 Testing: Revealing a Process Dynamics 6 Control Station s NSS Modeling Innovation 9 Data Collection: Speed is Everything 10 The FOPDT Model: The Right Tool for the Job 12 Is Your Process Non-Integrating or Integrating? 13 Process Gain: The How Far Variable 14 Time Constant: The How Fast Variable 16 Dead-Time: The How Much Delay Variable 18 Changing Dynamic Process Behavior 19 The Basics of PID Control 20 Rules of Thumb: PID Controller Configurations 21 Using and Calculating the PI Controller Tuning Parameters 22 Notes Concerning Specific NovaTech D/3 PID Algorithms 24 Introducing D/3 Loop Optimizer Powered by Control Station 26 Copyright 2010 Control Station, Inc. All Rights Reserved. Control Station, the Control Station logo, the D/3 Loop Optimizer logo, and the NSS Modeling Innovation are either registered trademarks or trademarks of Control Station Incorporated in the United States and/or other countries. All other trademarks are the property of their respective owners.
3 Forward 3 Tuning PID controllers can seem a mystery. Parameters that provide effective control over a process one day fail to do so the next. The stability and responsiveness of a process seem to be at complete odds with each other. And controller equations include subtle differences that can baffle even the most experienced practitioners. Even so, the PID controller is the most widely used technology in industry for the control of business-critical production processes and it is seemingly here to stay. This guide offers a best-practices approach to PID controller tuning. What is meant by a best-practices approach? Basically, this guide shares a simplified and repeatable procedure for analyzing the dynamics of a process and for determining appropriate model and tuning parameters. The techniques covered are used by leading companies across the process industries and they enable those companies to consistently maintain effective and safe production environments. What s more, they re techniques that are based on Control Station s Practical Process Control a comprehensive curriculum that has been used to train over a generation of process control professionals. Our guide provides the fundamentals a good starting point for improving the performance of PID controllers. It offers an introduction to both the art and the science behind process control and PID controller tuning. Included are basic terminology, steps for analyzing process dynamics, methods for determining model parameters, and other valuable insights. With these fundamentals we encourage you to investigate further and fully understand how to achieve safe and profitable operations. As I shared, the PID controller appears here to stay. Robert C. Rice, PhD Control Station, Inc.
4 The PID Controller and Control Objective 4 Through use of the Proportional-Integral-Derivative (PID) controller, automated control systems enable complex production process to be operated in a safe and profitable manner. They achieve this by continually measuring process operating parameters such as Temperature, Pressure, Level, Flow, and Concentration, and then by making decisions to open or close a valve, slow down or speed up a pump, or increase or decrease heat so that selected process measurements are maintained at the desired values. The overriding motivation for modern control systems is safety. Safety encompasses the safety of people, the safety of the environment, as well as the safety of production equipment. The safety of plant personal and people in the surrounding community should always be the highest priority in any plant operation. Good control is subjective. One engineer s concept of good control can be the epitome of poor control to another. In some facilities the ability to maintain operation of any loop in automatic mode for a period of 20 minutes or more is considered good control. Although subjective, we view good control as an individual control loop s ability to achieve and maintain the desired control objective. But this view introduces an important question: What is the control objective? It can be argued that knowing the control objective is the single most important piece of information in designing and implementing an effective control strategy. Understanding the control objective suggests that the engineering team has a firm grasp of what the process is designed to accomplish. This must be the case whether the goal is to fill bottles to a precise level, maintain the design temperature of a highly exothermic reaction without blowing up, or some other objective. Truly the control objective involves this and more.
5 The PID Controller and Control Objective 5 Shown on the right is a typical surge tank. Surge tanks are used to minimize disturbances to other downstream production processes. T h e y a r e u s u a l l y t u n e d conservatively, allowing the Measured Variable to drift above and below set point without exceeding the upper or lower alarms limits. In most cases, tight control over a surge tank is counterproductive as tight control does not adequately insulate other production processes from disturbances. Shown on the left is a steam drum. Steam drums act as a reservoir of water and/or steam for boiler s y s t e m s. T h e y a r e t y p i c a l l y engineered with very tight tolerances around set point in order to maintain a specific level of steam production. Variation of the level is detrimental to t h e p r o c e s s e f f i c i e n c y a n d productivity.
6 Testing: Revealing a Process Dynamics 6 The best way to learn about the dynamic behavior of a process is to perform tests. Even though open loop (i.e. manual mode) tests provide the best data, tests also can be performed successfully in closed loop (i.e. automatic mode). The goal of a test is to move the controller output (OT) both far enough and fast enough so that the dynamic character of the process is revealed through the response of the Measured Variable (ME). As shared previously, the dynamic behavior of a process usually differs from operating range to operating range, so be sure to test when the Measured Variable is near the value for normal operation of the process. Production processes are inherently noisy. As a result, process noise is typically visible in the data, showing itself as random chatter. It must be considered prior to conducting a test. If the test performed is not sufficient in magnitude, then it is quite possible that process noise will mask the dynamics completely or partially and prevent effective tuning. To generate a reliable process model and effective tuning parameters, it is recommended that only tests that are 5-10 times the size of the noise band be performed. Disturbances represent another important detail that must be considered when performing tests. A good test establishes a clear correlation between the planned change in controller output with the observed change in measured Variable. If process disturbances occur during testing, then they may influence the observed change in the measured Variable. The resulting test data would be suspect and, as a result, additional testing should be performed. There are a variety of tests that are commonly performed in industry. They include the Step, Pulse, Doublet, and Pseudo Random Binary Sequence. Examples of each are shown on the following page.
7 Testing: Revealing a Process Dynamics 7 Step Test A step test is when the controller output is stepped from one constant value to another. It results in the measured Variable moving from one steady state to a new steady state. Unfortunately, the step test is simply too limiting to be useful in many practical applications. The drawback is that it takes the process away from the desired operating level for a relatively long period of time which typically results in significant off-spec product that may require reprocessing or even disposal. Pulse Test A pulse test can be thought of as two step tests performed in rapid succession. The controller output is stepped up and, as soon as the measured variable shows a clear response, the controller output is then returned to its original value. Ordinarily, the process does not reach steady state before the return step is made. Pulse tests have the desirable feature of starting from and returning to an initial steady state. Unfortunately, they only generate data on one side of the process range of operation. Doublet Test A doublet test is two pulse tests performed in rapid succession and in opposite directions. The second pulse is implemented as soon as the process has shown a clear response to the first pulse. Among other benefits, the doublet test produces data both above and below the design level of operation. For this reason, many industrial practitioners find the doublet to be the preferred test method. PRBS Test A pseudo-random binary sequence (PRBS) test is characterized by a sequence of controller output pulses that are uniform in amplitude, alternating in direction, and of random duration. It is termed "pseudo" as true random behavior is a theoretical concept that is unattainable by computer algorithms. The PRBS test permits generation of useful dynamic process data while causing the smallest maximum deviation in the measured variable from the initial steady state.
8 Testing: Revealing a Process Dynamics 8 When performing tests and evaluating results, consider the following three(3) questions: 1. Was the process at a relative steady state before the test was initiated? Beginning at steady state simplifies the process of determining accurate model and tuning parameters. It allows for a clear relationship between the change in controller output and the associated response from the manipulated measured variable to be demonstrated. Said another way, it eliminates concern that test results may have been compromised by other non-test-related dynamics within the process. This is true when calculating model and tuning parameters by hand as well as when using most tuning software tools. 2. Did the dynamics of the test clearly dominate any apparent noise in the process? It is important that the change in either controller output or set point cause a response that clearly dominates any process noise. To meet this requirement, the change in controller output should force the measured variable to move at least 5-10 times the noise band. By doing so, test results will be easier to analyze. 3. Were disturbances absent during testing? It is essential that test data contain process dynamics that were clearly and in the ideal world exclusively forced by changes in the controller output. Dynamics resulting from other disturbances known or unknown will undermine the accuracy of the subsequent analysis. If you suspect that a disturbance corrupted the test, it is conservative to rerun the test.
9 Control Station s NSS Modeling Innovation 9 Traditional state-of-the-art process modeling and tuning tools require steady-state operation before conducting tests. Failure to achieve or maintain steady-state operation during these tests impairs the efficacy of the model parameters produced by such tools. Depending on the process involved, the impact of sub-optimal model parameters can be significant in terms of associated increases in production cost, reduction of production throughput, compromising of production quality, and overall undermining of production safety. Control Station s NSS Model Fitting Innovation applies a unique method for modeling dynamic process data and does not require steady-state operation prior to performing tests. As a result, the innovation offers significant advantage over other modeling and tuning technologies. The NSS Model Fitting Innovation does not utilize a specific data point or average data point as a known and is therefore not constrained by it. Rather, the NSS Model Fitting Innovation centers the model across the entire range of data under consideration. Since no data point is weighted disproportionately in the calculation and minimization of Error, the innovation is free to consider all possible model adjustments and to optimize the model s fit relative to all of the data under analysis. Traditional Modeling Software Shown on the right is a trend of the same process data and the corresponding model generated with D/3 Loop Optimizer. Even though in the midst of a transition, D/3 Loop Optimizer accurately models the dynamic behavior and produces effective tuning parameters. Shown on the left is a trend depicting the model fit produced by traditional PID tuning software. The process is in the midst of a transition, preventing the software from accurately describing the process dynamic behavior. D/3 Loop Optimizer
10 Data Collection: Speed is Everything 10 When using software to model a process and tune the associated PID controller, be aware that the data collection speed is as important as any other aspect of the test. As shared previously, a good test should be plain as day it should start at steady state and show a response that is distinct from any noise that may exist in the process. But if data is not collected at a fast enough rate, the software will be unable to provide an accurate model and in all likelihood the effort to tune the controller will fail. They say a broken watch is right twice a day. Now imagine a highly oscillatory process that swings 15% above and below set point every minute. That same process would be at the desired set point twice each minute every 30 seconds or so. If data for this process is captured every 30 seconds, it is possible that the data would show a flat line and suggest that the process is under perfect control. That data collection rate is clearly not fast enough to provide adequate resolution. Data should be collected at a minimum of ten (10) times faster than the rate of the Process Time Constant. To be clear, if the Process Time Constant is 10 seconds, then data should be collected no slower than once per second. That will assure that sufficient resolution is captured in the data. Basic recommendations for data collect speed are listed below: Process Type Flow, Pressure Recommended Sample Rate Less than 2 Seconds is Desirable Level Between 1-5 Seconds Depending on Tank Size (i.e. the smaller the tank, the faster the sample Fast Temperature Between 5-15 Seconds Slow Temperature ph, Concentration Between Seconds Between 5-30 Seconds
11 Controller Output Measured Controller Output Measured variable Data Collection: Speed is Everything 11 Shown below are a pair of real-world examples where the data collection rates were too slow and the information insufficient for tuning. The first example shows a trend depicting a series of changes to valve position and their associated impact. The data was taken directly from the plant s data historian. As the arrows point out, the data suggests that the measured variable started to change before the valve s position was adjusted. That is either a sign of a very smart and psychic process or one where the data doesn t adequately tell the story. The second example involves a flow loop where data was collected at a rate of 30 seconds. When trying to assess the dynamic behavior of a process, it is important to have access to data that is collected fast enough so that the shape of the response is visible. In this case, data from the plant s historian only shows the starting and ending points associated with the increases to controller output. Absent is any truly useful information related to the process dynamic behavior.
12 The FOPDT Model: The Right Tool for the Job 12 Success in controller tuning largely depends on successfully deriving a good model from bump test data. The First Order Plus Dead-Time (FOPDT) model is the principal model or tool used in tuning PID controllers. That requires an explanation given that the FOPDT model is too simple for time varying and non-linear process behavior. Though only an approximation for some processes a very rough approximation the value of the FOPDT model is that it captures the essential features of dynamic process behavior that are fundamental to control. When forced by a change in the controller output, a FOPDT model reasonably describes how the measured variable will respond. Specifically, the FOPDT model determines the direction, how far, how fast, and with how much delay the measured variable should respond with relative accuracy. The FOPDT model is called "first order" because it only has one (1) time derivative. The dynamics of real processes are more accurately described by models that possess second, third or higher order time derivatives. Even so, use of a FOPDT model to describe dynamic process behavior is usually reasonable and appropriate for controller tuning procedures. Practice has also shown that the FOPDT model is sufficient for use as the model in more advanced control strategies such as Feed Forward, Smith Predictor, and multivariable decoupling control. The FOPDT model is comprised of three (3) parameters: Process Gain, Process Time Constant, and Process Dead- Time. The remaining portion of this guide will focus on steps that can be followed to determine values for each of these parameters. Once determined, the guide will introduce tuning correlations with which tuning parameters can be derived and used by the associated PID controller.
13 b Is Your Process Non-Integrating or Integrating? 13 The plots below show idealized trends from two processes as they respond to a step test. The process on the left is non-integrating, also called self-regulating. The process on the right is integrating, also called non-self-regulating. Understanding the difference prior to modeling the process data is critical as applying the wrong model can have a significant effect on the tuning parameters that are calculated. More importantly, choosing the wrong model can have a negative effect on your ability to control the process safely. A characteristic behavior of a non-integrating process is that it will naturally self-regulate itself it will transition to a new steady state over time. As shown in the trend, the process responds to the change in controller output and tapers off to a new steady state of operation. In contrast, an integrating process does not have a natural balance point. As shown in the trend, the process moves steadily in one direction after the change in controller output occurs. The steady change associated with a integrating or non-self-regulating process will not stop until corrective action is taken.
14 Process Gain: The How Far Variable 14 Process Gain is a model parameter that describes how much the measured variable changes in response to changes in the controller output. A step test starts and ends at steady state, allowing the value of the Process Gain to be determined directly from the plot axes. When viewing a graphic of the step test, the Process Gain can be computed as the steady state change in the measured variable divided by the change in the controller output signal that forced the change. The formula for calculating Process Gain is relatively simple. It is the change of the measured variable from one steady state to another divided by the change in the controller output from one steady state to another. The strip chart below offer a graphic by which the Process Gain can be determined. The graphic shows a 10% change in the controller output the output increases from 50% to 60%. The measured variable reacts to that change by moving from a steady state value of ~2.0 meters to a new steady state value of ~3.0 meters. The graphic shows how the Process Gain from this example should be calculated. The change in the measured variable is equal to 1.0 meter (i.e. ~3.0 meters - ~2.0 meters = 1.0 meter). The change in controller output is equal to 10% (i.e. 60% - 50% = 10%). Process Gain can then be computed as 0.1 meters/percent.
15 Calculating Process Gain in Percent Span Units 15 Process Gain is based on the same unit values that are used in the process. These units are typically engineering units such as flow rates (e.g. GPM, or gallons per minute), temperature (e.g. C, or degrees Celsius,), and pressure (e.g. PSI, or pounds per square inch). It is important to note that the controller does not use these engineering units in its calculation. Instead, the controller uses the percent span of signal. When using the Process Gain in connection with the tuning correlations that follow, it is important to convert this Process Gain into units that reflect the manufactures' percent span. This can be accomplished by using the following formula: MATH ALERT: The process gain calculated on the previous page is from a control loop that has a measured variable span of 0 to 10 meters, and a controller output span of 0 to 100%. To convert this into the percent span units for use in the controller tuning correlations, see the below formula: m 100% ME 0% ME 100% OT 0% OT Process Gain [% Span] = 0.10 % OT 10 m 0 m 100% OT 0% OT m Process Gain [% Span] = 1.0 % OT This Process Gain can be interpreted to mean that for every 1% that the controller output increases, the measured variable will increase by 1% of its total span. This value in percent span units should be between 0.5 and 2.5 for a well designed process. Controller Gains above the 2.5 upper limit are typically the result of a control valve or pump being oversized for its particular application. Values for the controller gain below the 0.5 lower limit are usually from an over-spanned sensor.
16 Time Constant: The How Fast Variable 16 The overall Process Time Constant describes how fast a measured variable responds when forced by a change in the controller output. Note that the clock that measures speed does not start until the measured variable shows a clear and visible response to the controller output step. This is to distinguish the actual start for calculation purposes from the time when the controller output is first adjusted. The Process Time Constant is equal to the time it takes for the process to change 63.2% of the total change in the measured variable. The smaller the time constant, the faster the process.
17 Calculating Process Time Constant 17 As shown in the strip charts below, begin by identifying the time at which the measured variable first reacts to the change in controller output not the time when the controller output first changes. In the example shown, the measured variable shows a distinct change beginning at approximately 4.1 minutes. By estimating the total change in the measured variable, it is then possible to determine a value equal to 63.2% of the total change. In this case, the measured variable moved from a value of ~1.85 meters to a value of ~2.85 meters. Therefore, 63.2% of the total change is ~0.6 meters (i.e meters 1.85 meters = 1.0 meters x = 0.6 meters). By adding 0.6 meters to the initial value of the measured variable (i.e. 1.85), it is apparent that the measured variable reaches the value of 2.45 meters at approximately 5.5 minutes. The Process Time Constant is the difference between the initial start of the change in the measured variable and 63.2% of the total change in the measured variable. In this example, the initial value is 4.1 minutes and 63.2% of the change occurs at 5.5 minutes. The Process Time Constant is equal to 1.4 minutes.
18 Dead-Time: The How Much Delay Variable 18 Process Dead-Time is the time that passes from the moment the step change in the controller output is made until the moment when the measured variable shows a clear initial response to that change. Process Dead-Time arises because of transportation lag and/or sample or instrumentation lag. Transportation lag is defined as the time it takes for material to travel from one point to another. Similarly, sample or instrument lag is defined as the time it takes to collect, analyze or process a measured variable sample. The larger the Process Dead-Time relative to the Process Time Constant, the more difficult the associated process will be to control. Typically speaking, as the Process Dead-Time exceeds the Time Constant, the speed by which the controller can react to any given change in that same process is significantly decreased. That undermines the PID controller s ability to maintain stability. It is for this reason that Process Dead-Time is often referred to as the killer of control. Calculating Process Dead-Time is relatively straight forward. Begin by identifying the time at which the controller output is changed. In the example provided, the controller output is seen to change at a time of 3.8 minutes. Next, identify the time at which the measured variable first reacts to the change in controller output. When calculating the Process Time Constant it was learned that the measured variable shows a distinct change beginning at approximately 4.1 minutes. The Process Dead-Time is then calculated as 0.3 minutes (i.e. 4.1 minutes minutes ).
19 Changing Dynamic Process Behavior 19 In essence, the dynamic behavior of production processes can be characterized by how one variable responds over time to another variable. Understanding those dynamics allows the PID controller to maintain effective and safe control even in the face of disturbances. But gaining that understanding is not a trivial matter. Linear processes demonstrate the most basic dynamic behavior. They respond to disturbances in the same fashion regardless of the operating range. However, such processes are only linear for a period of time. All processes have surfaces that foul or corrode, mechanical elements like seals or bearings that wear, feedstock quality or catalyst activity that drifts, environmental conditions such as heat and humidity that change, and other phenomena that impact dynamic behavior. The result is that linear processes behave a little differently with each passing day. Nonlinear processes demonstrate dynamic behavior that changes as the operating range changes. Most production processes are nonlinear to one extent or another. With this understanding, nonlinear processes should therefore be tuned for use within a specific and typical operating range. The plot shown above depicts the nonlinear dynamics of a simple Heat Exchanger process. Notice how the controller output is stepped five (5) times in equal amounts of 20% but the response of the measured variables changes dramatically from the first to the last change.
20 The Basics of PID Control 20 PID controllers are by far the most widely used family of intermediate value controllers in the process industries. As such, a fundamental understanding of the three (3) terms Proportional, Integral, and Derivative that interact and regulate control is worthwhile. Proportional Term The proportional term considers how far the measured variable has moved away from the desired set point. At a fixed interval of time, the proportional term either adds or subtracts a calculated value that represents error - the difference between the process current position and the desired set point. As that error value grows or shrinks, the amount added to or subtracted from the error similarly grows or shrinks both immediately and proportionately. Integral Term The integral term addresses how long the measured variable has been away from the desired set point. The integral term integrates or continually sums up error over time. As a result, even a small error amount of persistent error calculated in the process will aggregate to a considerable amount over time. Derivative Term The derivative term considers how fast the error value changes at an instant in time. The derivative computation yields a rate of change or slope of the error curve. An error that is changing rapidly yields a large derivative regardless of whether a dynamic event has just begun or if it has been underway for some time.
21 Rules of Thumb: PID Controller Configurations 21 As a rule of thumb, no two processes behave the same. They may produce the same product, utilize identical instrumentation, and operate for the same period of time. However, like identical children they will inevitably develop unique characteristics. Even so, production processes do possess common attributes, and common approaches to controlling them can be applied with great success. P-Only P-Only control involves the exclusive use of the Proportional Term. It is the simplest form of control which makes it the easiest to tune. It also provides the most robust (i.e. stable) control. It provides an initial and rapid kick in response to both disturbances and set point changes, but it is subject to offset. P-Only control is suitable in highly dynamic applications such as level control and in the inner loop of the cascade architecture. PI Control PI is the most common configuration of the PID controller in industry. It supplies the rapid initial response of a P-Only controller, and it addresses offset that results from P-Only control. The use of two (2) parameters makes this configuration relatively easy to tune. PID Control This configuration uses the full set of terms, including the Derivative, and it allows for more aggressive Proportional and Integral terms without introducing overshoot. It is good for use in steady processes and/or processes that either respond slowly or have little-to-no noise. The downfall of PID Control is its added complexity and the increased chatter on the controller output signal. Increased chatter typically results in excessive wear on process instrumentation and increases maintenance costs. The image below identifies each of the PID controller configurations and suggests a configuration(s) for various process types.
22 Increasing PGain Using the PI Controller 22 Most industrial processes are effectively controlled using just two of the PID controller s terms Proportional and Integral. Although a detailed explanation is worthwhile, for purposes of this guide it is hopefully sufficient to note that the Derivative term reacts poorly in the face of noise. The Derivative term may provide incremental smoothness to a controller s responsiveness, but it does so at the expense of the final control element. Since most production processes are inherently noisy, the Derivative term is frequently not used. PI controllers present challenges too. One such challenge of the PI controller is that there are two tuning parameters that can be adjusted. These parameters interact even fight with each other. The graphic on the right shows how a typical set point response might vary as the two tuning parameters change. The tuning map below shows how differences in Gain and Reset Time can affect a PI controller s responsiveness. The center of the map is labeled as the base case. As the terms are adjusted either doubled or halved the process can be seen to respond quite differently from one example to the next. The plot in the upper left of the grid shows that when gain is doubled and reset time is halved, the controller produces large, slowly damping oscillations. Conversely, the plot in the lower right of the grid shows that when controller gain is halved and reset time is doubled, the response becomes sluggish. PI Controller Tuning Map Increasing RESET
23 Calculating the PI Controller Tuning Parameters 23 Control Station recommends use of the Internal Model Control (IMC) tuning correlations for PID controllers. These are an extension of the popular lambda tuning correlations and include the added sophistication of directly accounting for dead-time in the tuning computations. The IMC method allows practitioners to adjust a single value the closed loop time constant and customize control for the associated application requirements. The first step in using the IMC tuning correlations is to compute the closed loop time constant. All time constants describe the speed or quickness of a response. The closed loop time constant describes the desired speed or quickness of a controller in responding to a set point change. Hence, a small closed loop time constant value (i.e. a short response time) implies an aggressive controller or one characterized by a rapid response. Values for the closed loop time constant are computed as follows: Aggressive Tuning: C is the larger of 0.1 P or 0.8 P Moderate Tuning: C is the larger of 1.0 P or 8.0 P Conservative Tuning: C is the larger of 10 P or 80.0 P With the closed loop time constant and model parameters from the previous section computed, non-integrating (i.e. self-regulating) tuning parameters for the D/3 PID or PRF Processing Block can be determined using the following equation: PGain 1 P 1 and RESET K P P C P Final tuning is verified on-line and may require adjustment. If the process responds sluggishly to disturbances and/or changes to the set point, the controller gain is most likely too small and/or the reset time is too large. Conversely, if the process responds quickly and is oscillating to a degree that is undesirable, the controller gain is most likely too large and/or the reset time is too small.
24 Notes on NovaTech D/3 PID Algorithms 24 The NovaTech D/3 System has two options for PID Control: PID Processing Block PRF (PID Reset Feedback) Processing Block The PID Processing Block provides Proportional, Integral, and Derivative control of a process. The PID block receives a Set-Point (SP) and a Measurement (ME) and computes an Output (OT) based on the tuning parameters PGAIN, RESET, and RATE. The PRF or PID RESET FEEDBACK Processing Block is similar to the standard PID Block performing traditional Proportional, Integral, and Derivative control. The feedback term not found in the standard PID Processing Block tracks a downstream value that is used for performing integral action and it protects against reset windup. The PID and PRF blocks are equivalent if the PRF feedback signal is the output of its own block. In generic terms, the D/3 PID Algorithms follow an Ideal PID with Reset Rate PID Form. MV = Manipulated Variable (i.e. Controller Output) E(t) = Error (Set Point Process Variable) PGAIN = Controller Gain [%/%] RESET = Reset Time, Seconds [1/seconds] RATE = Derivative Time, Seconds [seconds]
25 Disturbance Rejection Response Set Point Response Notes on NovaTech D/3 PID Algorithms 25 The PID Processing Block allows you to adjust the value that is used to calculate the proportional and derivative portions of the PID Equation. The calculation method can be changed by adjusting the settings for both PE/M and DE/ M. These are changed through a utility called WinMod. They both can be set to either a value of ERROR or MEAS. PE/M adjusts the proportional calculation term and has a default value of ERROR. In contrast, DE/M adjusts the derivative calculation term and has a default value of MEAS. The difference in the set point and disturbance rejection response of the different calculation methods are depicted below. As you can see, the default PID (i.e. PE/M=ERROR, DE/M=MEAS) provides the harshest response to a set point change while the PID (i.e. PE/M=MEAS, DE/M=MEAS) provides the smoothest response. It should be noted that each of these responses was generated with identical tuning parameters. Even though the PID Response is the slowest, it has the same stability factor as the other algorithm types and will become unstable at the same point. PE/M=ERROR, DE/M=ERROR PE/M=ERROR, DE/M=MEAS PE/M=MEAS, DE/M=MEAS
26 Introducing D/3 Loop Optimizer 26 Last year Control Station and NovaTech Process Solutions announced the release of D/3 Loop Optimizer Powered by Control Station. D/3 Loop Optimizer is based on awardwinning technology that simplifies the optimization of PID controllers. It is an optional online PID diagnostic and optimization solution that integrates seamlessly with NovaTech s D/3 DCS solutions. D/3 Loop Optimizer is configurable to support access to either real-time process data or process data that is stored in a database (i.e. data historian). Analysis performed by D/3 Loop Optimizer can be used to better understand business-critical process dynamics and to improve overall production performance. D/3 Loop Optimizer empowers users to quickly and consistently model the dynamics of a given production process and to tune it for improved performance. Tuning parameters produced by D/3 Loop Optimizer can be customized to meet the user s unique control objective and assure more optimal performance. Key attributes of D/3 Loop Optimizer include the following: NSS Modeling Innovation Equipped with Control Station s patent-pending NSS Modeling Innovation, D/3 Loop Optimizer is uniquely suited to analyze non-steady state process data collected directly from the D/3 DCS and to provide superior PID controller tuning parameters by: Windowing in on segments of process data that are associated with any/all experiments performed (i.e. bump tests). Centering the process model over the entire range of process data under review.
27 Introducing D/3 Loop Optimizer 27 Customizable Controller Performance The adjustable Closed-Loop Time Constant allows users to tailor a controller s performance. By choosing from among a wide range of possible settings, users can achieve control spanning from Aggressive to Conservative. Comparative Statistics and Stability Analysis D/3 Loop Optimizer assists users with tuning by providing access to valuable and dynamic analysis. Numeric statistics and performance graphics reveal the relative improvement to or deterioration of control with: Values for widely accepted performance statistics such as Settling Time, Percent Overshoot, Decay Ratio and Controller Output Travel. Advanced robustness analysis used in calculating process stability and maintaining safe operations. Simulated Controller Response Dynamic simulation of the PID controller s response curve permits users to evaluate proposed tuning parameters before implementing them in the NovaTech D/3 DCS. In particular, users benefit from seeing: Side-by-side comparison of existing vs. proposed tuning parameters. Optional controller settings, including P-Only, PI, and PID Documentation and Reporting D/3 Loop Optimizer provides useful documentation of the decision-making process and presents appropriate information in an easy-to-follow report, including: Process data used and the associated model fit and simulated PID response graphics. Performance statistics and related stability analysis. Model parameters and both the related data properties and controller scaling values such as ME Min/Max and OT Min/Max.
28 28 For more information about D/3 Loop Optimizer or other process automation and optimization solutions, contact NovaTech Process Solutions at or via at
Best Practices for Controller Tuning George Buckbee, P.E. ExperTune, Inc. 2009 ExperTune, Inc. Page 1 Best Practices for Controller Tuning George Buckbee, P.E., ExperTune Inc. 2009 ExperTune Inc Summary
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Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) The standard tuning values used in ADVANCED Motion Controls drives are conservative and work well in over 90%
ENGINEERING TECHNIQUE FOR SUCCESSFUL ADVANCED CONTROL OF PLANTS USING MULTI-VARIABLE CONTROLLER WATANABE Masahiro* 1 Multi-Variable Control (MVC) allows for improved stability of plant control and significant
Understanding PID Temperature Control as Applied to Vacuum Furnace Performance number 4 Ser Vacuum Furnace Reference i e s Understanding PID Temperature Control As Applied To Vacuum Furnace Performance
C REACTOR TEMPERATURE control typically is very important to product quality, production rate and operating costs. With continuous reactors, the usual objectives are to: hold temperature within a certain
Control Station Innovative Solutions from the Process Control Professionals Practical Process Control Fundamentals of Instrumentation and Process Control Practical Process Control Fundamentals of Instrumentation
1 INTRODUCTION TO LOOP CHECKING Process control loops have a major impact on the financial performance of today s manufacturing facilities. It is also recognized that a good foundation of the basic regulatory
05444 Process Control System Design LECTURE 6: SIMO and MISO CONTROL Daniel R. Lewin Department of Chemical Engineering Technion, Haifa, Israel 6 - Introduction This part of the course explores opportunities
This chapter aims to bring basic knowledge of control strategies in HVAC systems through a real case study: Temperature control of an open office. Objectives: At the end of this course, you should be able
Introduction to Feedforward Controller Design Based on Steady-State Models Feedforward Controller Design Based on Dynamic Models Tuning Feedforward Controllers 1 2 Feedback control is an important technique
MPC in Column control Inge N. Åkesson, Senior Control and Application Specialist ABB, BA ATCF Control and Force Measurement, SE-721 57 Västerås, Sweden e-mail address: firstname.lastname@example.org Abstract:
Abstract Automated Mill Control using Vibration Signal Processing Karl S. Gugel, Ph.D., President, Digital Control Lab, Inc. Rodney M. Moon II, Process Engineer, California Portland Cement Published IEEE
IPB-IB R ELECTRIC ACTUATORS FOR INDUSTRIAL PROCESS CONTROL INDUSTRIAL STEAM BOILERS BECK VIDEO Scan w/ Smartphone 1 Increasing Business Pressures Necessitate Boiler Control Improvements Today s industrial
Journal of Software Engineering and Applications, 2011, 4, 161-171 doi:10.4236/jsea.2011.43018 Published Online March 2011 (http://www.scirp.org/journal/jsea) 161 A Design of a PID Self-Tuning Controller
Application Guide Control Systems in the Process Industries Control Systems are used extensively throughout the process industries and the Utilities to control the level of boiling water contained in boiler
Using Wireless Measurements in Control Applications Terry Blevins, Mark Nixon, Marty Zielinski Emerson Process Management Keywords: PID Control, Industrial Control, Wireless Transmitters ABSTRACT Wireless
HC900 Boiler Control Application Brief Industry: Manufacturing Background Until recent years, only the largest boilers could justify sophisticated boiler controls. Now high fuel costs and occasional limited
HC900 for Boiler Control Applications Background Until recent years, only the largest boilers could justify sophisticated boiler controls. Now high fuel costs make it necessary to improve boiler efficiency
Proportional Integral (PI) Control The PI Controller Ideal form of the PI Controller Kc CO=CO + Kc e(t) + e(t)dt bias where: CO = controller output signal CO bias = controller bias or null value PV = measured
Chapter PID Control Based on a survey of over eleven thousand controllers in the refining, chemicals and pulp and paper industries, 97% of regulatory controllers utilize PID feedback. Desborough Honeywell,
A Brief Tutorial (and supplement to training and online documentation) Glenn Dissinger, Product Director, Aspen Technology, Inc. Julie Levine, Associate Product Marketing Professional, Aspen Technology,
Perform Common Process Loop Control Algorithms Using the PIDE Instruction Introduction This white paper discusses how to use the features inherent in the Enhanced PIDE instruction in the RSLogix 5000 Function
LINAR PRODUCTS AN December 1991 Philips Semiconductors AN INTRODUCTION Large systems are comprised of many different subsystems, all of which must interface to complete the system. All types of circuits,
VFD 101 Lesson 4 Application Terminology for a VFD This lesson covers the application terminology associated with a Variable Frequency Drive (VFD) and describes each term in detail. When applying a Variable
GE Intelligent Platforms The Advantages of Enterprise Historians vs. Relational Databases Comparing Two Approaches for Data Collection and Optimized Process Operations The Advantages of Enterprise Historians
PROCESS CONTROL INDUSTRIAL MAINTENANCE TECHNICIAN CERTIFICATE Process Control (T5552) Course 1 Introduction to Process Control Course 2 Instrument Tags Course 3 Piping and Instrumentation Diagrams Course
1 CALIBRATION PRINCIPLES After completing this chapter, you should be able to: Define key terms relating to calibration and interpret the meaning of each. Understand traceability requirements and how they
Motor Control RSS Lecture 3 Monday, 7 Feb 2011 Prof. Daniela Rus (includes some material by Prof. Seth Teller) Jones, Flynn & Seiger 7.8.2 http://courses.csail.mit.edu/6.141/ Today: Control Early mechanical
FlukeView Forms Technical Note Fluke developed an Event Logging function allowing the Fluke 89-IV and the Fluke 189 models to profile the behavior of a signal over time without requiring a great deal of
Maglev Controller Design By: Joseph Elliott Nathan Maher Nathan Mullins For: Dr. Paul Ro MAE 435 Principles of Automatic Controls Due: May 1, 2009 NJN Control Technologies 5906 Wolf Dale Ct. Suite 1 Raleigh,
PID CONTROL Araki M. Kyoto University, Japan Keywords: feedback control, proportional, integral, derivative, reaction curve, process with self-regulation, integrating process, process model, steady-state
ALLEN-BRADLEY BULLETIN 1336 PLUS PROCESS PI REGULATOR APPLICATION NOTE #1336S - 16 July 1, 1997 PURPOSE WHAT THIS NOTE CONTAINS INTENDED AUDIENCE WHERE IT IS USED TERMS AND DEFINITIONS The integral Process
Process Control Primer At the onset of the Industrial Revolution, processes were controlled manually. Men turned valves, pulled levers or changed switches based on the need to turn devices on or off. As
FACULTY OF ENGINEERING AND SUSTAINABLE DEVELOPMENT. Maria João Mortágua Rodrigues June 2011 Bachelor s Thesis in Electronics Bachelor s Program in Electronics/Telecommunications Examiner: Niclas Björsell
INTRUSION PREVENTION AND EXPERT SYSTEMS By Avi Chesla email@example.com Introduction Over the past few years, the market has developed new expectations from the security industry, especially from the intrusion
Control System Asset Management 2007 ExperTune, Inc. George Buckbee, P.E. ExperTune, Inc. Control System Asset Management George Buckbee, P.E., ExperTune Inc. 2007 ExperTune Inc Summary Most large process
Advantages of High Resolution in High Bandwidth Digitizers Two of the key specifications of digitizers are bandwidth and amplitude resolution. These specifications are not independent - with increasing
Gerard Mc Nulty Systems Optimisation Ltd firstname.lastname@example.org/0876697867 BA.,B.A.I.,C.Eng.,F.I.E.I Data is Important because it: Helps in Corporate Aims Basis of Business Decisions Engineering Decisions Energy
Industrial Steam System Process Control Schemes This paper was developed to provide a basic understanding of the different process control schemes used in a typical steam system. This is however a fundamental
Control of an industrial process using PID control blocks in automation controller by Michel Van Dessel 1 1 Abstract Many continuous industrial processes can be controlled using programmable automation
Supplement to Monitoring and Control Tools for Implementing PAT Terry Blevins and James Beall AUTHORS Innovations in process analysis and control offer significant opportunities for improving pharmaceutical
Chapter 1 Introduction 1.1 The Motivation Hydroelectric power plants, like real systems, have nonlinear behaviour. In order to design turbine controllers, it was normal practice in the past, when computer
CHAPTER 15 Moving Average Filters The moving average is the most common filter in DSP, mainly because it is the easiest digital filter to understand and use. In spite of its simplicity, the moving average
Energy savings in commercial refrigeration equipment : Low pressure control August 2011/White paper by Christophe Borlein AFF and l IIF-IIR member Make the most of your energy Summary Executive summary
Microcontroller-based experiments for a control systems course in electrical engineering technology Albert Lozano-Nieto Penn State University, Wilkes-Barre Campus, Lehman, PA, USA E-mail: AXL17@psu.edu
PID Controller Theory,QWURGXFWLRQ A PID controller (Proportional, Integral and Differential) is used to control devices, such as drives to maintain control of a varying system. This is in most cases done
PID Tuning Methods An Automatic PID Tuning Study with MathCad Neil Kuyvenhoven Calvin College ENGR. 315 December 19, 2002 Abstract There are several methods for tuning a PID controller. This paper takes
LOAD RAMP RATE and STABILITY OPTIMIZATION Improving the stability and ramp rate capability of established power plant units is a challenge which presents itself more and more frequently as we enter the
Pneumatic Proportional Valve Selection Made Simple by Tom Voth Product Marketing Manager for Proportional Products A White Paper From Numatics, Inc. Introduction Proportional valves which change outputs
BIOE 370 1 Populus Simulations of Predator-Prey Population Dynamics. Lotka-Volterra Model L-V model with density-dependent prey population growth Theta-Logistic Model Effects on dynamics of different functional
The Effect of Network Cabling on Bit Error Rate Performance By Paul Kish NORDX/CDT Table of Contents Introduction... 2 Probability of Causing Errors... 3 Noise Sources Contributing to Errors... 4 Bit Error
Chapter 2 Summarizing Data After collecting data, the next stage in the investigative process is to summarize the data. Graphical displays allow us to visualize and better understand the important features
ADC, DAC & Control Tajana Simunic Rosing Department of Computer Science and Engineering University of California, San Diego. 1 Hardware platform architecture 2 Sensors and Actuators Sensors Capture physical
PROCESS CONTROL DIAGNOSTICS F. Greg Shinskey Process Control Consultant North Sandwich, NH 03259 Abstract With all the tuning methods documented, it is remarkable how often controllers are mistuned, focusing
Measurement Systems Analysis MSA for Suppliers Copyright 2003-2007 Raytheon Company. All rights reserved. R6σ is a Raytheon trademark registered in the United States and Europe. Raytheon Six Sigma is a
Model Predictive Control for small applications Slide 12-1 MPC for Small Applications Advantages of Model Predictive Control Automatically compensate for process interaction, measurable load disturbances
Controller Design using the Maple Professional Math Toolbox for LabVIEW This application demonstrates how you can use the Maple Professional Math Toolbox for LabVIEW to design and tune a Proportional-Integral-Derivative
Measurement Products PID control theory made easy Optimising plant performance with modern process controllers 1. What are the main types of control applications? Introduction Accurate control is critical
Project 4: PID Controller for a Resistive Heating Element Objective: Develop a control system that uses feedback to maintain a target temperature. Background Just as medicine involves both understanding
PID for Trim Control GPD515/G5 Software Option (VSG112052) Part Number: CIMR-G5MXXXXXF-012 (1) With this factory-installed FLASH software, the GPD515/G5 has the ability to trim a speed reference with a
Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #06: HVAC Proportional- Integral (PI) Temperature Control Heating, Ventilation, and Air Conditioning Trainer (HVACT) Student Manual Table of Contents
PID Control by Ben Rowland, April 2011 Abstract PID control is used extensively in industry to control machinery and maintain working environments etc. The fundamentals of PID control are fairly straightforward
Electro-hydraulic System Design: Making the right system choices By Peter Nachtwey, President, Delta Computer Systems, Inc. Designers who understand and can take advantage of the differences between fluid
Closed Loop Pressure Control for the Extrusion Process By John Pacini Updated by Douglas Joy Extrusion is a continuous process and successful economic production depends on maintaining stable output and
Applying Pressure Independent Control Valves in H.V.A.C. Systems A Presentation to: Orange Empire ASHRAE Santa Ana Nov. 17, 2009 1 Introduction I know, as building design consultants, so much of your effort
GE Intelligent Platforms The Advantages of Plant-wide Historians vs. Relational Databases Comparing Two Approaches for Data Collection and Optimized Process Operations The Advantages of Plant-wide Historians
Introduction to time series analysis Margherita Gerolimetto November 3, 2010 1 What is a time series? A time series is a collection of observations ordered following a parameter that for us is time. Examples
Loop Bandwidth and Clock Data Recovery (CDR) in Oscilloscope Measurements Application Note 1304-6 Abstract Time domain measurements are only as accurate as the trigger signal used to acquire them. Often
Using Closed Loop (PI) Control on MM4 What is Closed Loop control? Closed loop control is widely used in industrial applications to control a wide variety of processes. Control engineering is a complex
Data Analysis on the ABI PRISM 7700 Sequence Detection System: Setting Baselines and Thresholds Overview In order for accuracy and precision to be optimal, the assay must be properly evaluated and a few
(Part 3) In part one of this series of articles, level measurement using a floating system was discusses and the instruments were recommended for each application. In the second part of these articles,
The Process PID control tuner provides the open and closed loop process system responses for a continuous process model (G) with a continuous PID controller (Gc). The Process model can be characterized
Lecture 9 Implementing PID Controllers CSE P567 Control Systems We want to control some system called a Plant There is an output value we want the system to achieve To be equal to a given goal value: set
C H A P T E R 1 System Behavior and Causal Loop Diagrams Human beings are quick problem solvers. From an evolutionary standpoint, this makes sense if a sabertooth tiger is bounding toward you, you need
Measurements on Transmission Lines Power and Attenuation Measurements Although a variety of instruments measure power, the most accurate instrument is a power meter and a power sensor. The sensor is an
a. Using Faraday s law: Experimental Question 1: Levitation of Conductors in an Oscillating Magnetic Field SOLUTION The overall sign will not be graded. For the current, we use the extensive hints in the
Forecaster comments to the ORTECH Report The Alberta Forecasting Pilot Project was truly a pioneering and landmark effort in the assessment of wind power production forecast performance in North America.
SINGLE-SUPPLY OPERATION OF OPERATIONAL AMPLIFIERS One of the most common applications questions on operational amplifiers concerns operation from a single supply voltage. Can the model OPAxyz be operated
Group SIMATIC S7-300/400 Tips Topic 1 Simple PID Controllers for the S7-300/400 Overview This programming example shows a method for programming a Proportional Integral Derivative (PID) controller on a
1 WHAT IS A CONTROL VALVE AND HOW DOES IT AFFECT MY CONTROL LOOP? Control valves may be the most important, but sometimes the most neglected, part of a control loop. The reason is usually the instrument
Dynamic Process Modeling Process Dynamics and Control 1 Description of process dynamics Classes of models What do we need for control? Modeling for control Mechanical Systems Modeling Electrical circuits