9-2

Proportional Integral Derivative Instruction

The PID equation controls the process by sending an output signal to the control valve. The greater the error between the setpoint and process variable input, the greater the output signal, and vice versa. An additional value (feed forward/bias) can be added to the control output as an offset. The result of PID calculation (control variable) drives the process variable you are controlling toward the set point.

The PID Equation

The PID instruction uses the following algorithm: Standard equation with dependent gains is shown below.

1 D ( PV ) Output = K C ( E ) + ---- ( E ) dt + T D ---------------- + Feed Forward/Bias TI df

Standard Gains constants are listed in the following table.

Table 9.1 Standard Gain Constants Term Controller Gain KC Range (Low to High) 0.1 to 25.5 (dimensionless)(1)
0.01 to 327.67 (dimensionless)(2)

Reference Proportional

Reset Term 1/TI Rate Term TD

25.5 to 0.1 (minutes per repeat)(1) 327.67 to 0.01 (minutes per repeat)(2) 0.1 to 25.5 (minutes)(1)
0.01 to 327.67 (minutes)(2)

Integral Derivative

(1) (2)

SLC 5/02 processors. Applies to SLC 5/03 and higher processors PID ranges when bit Reset and Gain Range (RG) bit is set to 1.

The derivative term (rate) provides smoothing by means of a low-pass filter. The cutoff frequency of the filter is 16 times greater than the corner frequency of the derivative term.

Publication 1747-RM001G-EN-P - November 2008