Controladores tipo PID para control

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Controladores tipo PID para control

Attribution Non-Commercial (BY-NC)

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The following PID controllers can be optimized by using the excellent PID auto-tuning software

BESTune see http!""bestune#$%megs#com" for details&# Theoretically' BESTune is able to

optimize any PID controllers' as long as the PID e(uations implemented in them are )nown# In

order to include more PID controllers in BESTune' I am as)ing you to gi*e me more information

about other well-)nown brands of industrial PID controllers brand names' PID e(uations

implemented' units of the three PID constants' etc&# +our help will be *ery much appreciated#

In the following PID e(uations'

P.! Process .ariable

SP! SetPoint

e/SP-P.

There are three types of PID controllers! Type 0' Type B' and Type ,# It is strongly

recommended that type , be used# 1or more about this' please ta)e a loo) at

http!""bestune#$%megs#com"type0B,#htm# 0 method of desinging type , PID is gi*en at

http!""bestune#$%megs#com"piddesign#htm# 1or a (uic) loo) at a type , PID loop' ta)e a loo) at

this picture#

BESTune#,om

Email! bestune2netzero#net

333! http!""bestune#$%megs#com"

Standard Independent PID Controller

There are three types of independent PID control e(uations!

Type 0!

+ +

dt

de

K edt K e K CO

d i p

Type B!

+ +

dt

PV d

K edt K e K CO

d i p

&

Type ,!

+ +

dt

PV d

K edt K PV K CO

d i p

&

&

3e strongly recommend type , 4nfortunately' most industrial PID controllers use either type 0

or type B e(uations&# Differentiating both sides of type , e(uation gi*es!

dt

PV d

K dPV K edt K dCO

d p i

5

Discretization of the abo*e e(uation with sampling period Ts gi*es the following form that can be

implemented in a digital computer!

&6 5 & 7 5 & 8 &6 7 & 8 & & 7 & + + k PV k PV k PV

T

K

k PV k PV K T k e K k CO k CO

s

d

p s i

where

Ts! Sampling period seconds

9p! Proportional gain :o unit

9i! Integral grain 7"second&

9d! Deri*ati*e gain seconds

The last important thing that is often ignored but can ne*er be ignored is to bring ,- bac) to the

upper or lower limit *alues whene*er it is outside these limits' i#e#' whene*er ,-)&;,-<s upper

limit *alue' we must set ,-)&/,-<s upper limit *alue= and whene*er ,-)&>,-<s lower limit

*alue' we must set ,-)&/,-<s lower limit *alue#

1or example' if ,-)&/7%% means the control *al*e is 7%%? open and ,-/7% means the control

*al*e is @ust closed' then whene*er the *alue of ,-)& calculated by the abo*e PID e(uation is

larger than 7%%' we must set ,-)&/7%% and whene*er the *alue of ,-)& calculated by the

abo*e PID e(uation is less than 7%' we must set ,-)&/7%#

Standard Dependent PID Controller

Similarly' there are also three types of dependent PID e(uations!

Type 0!

1

]

1

+ +

dt

de

T edt

T

e K CO

d

i

c

7

Type B!

1

]

1

+ +

dt

PV d

T edt

T

e K CO

d

i

c

& 7

Type ,!

1

]

1

+ +

dt

PV d

T edt

T

PV K CO

d

i

c

& 7

&

3e strongly recommend type ,' i#e#'

1

]

1

+ +

dt

PV d

T edt

T

PV K CO

d

i

c

& 7

&

where

9c! Proportional gain :o unit

Ti! Aeset time min"rep&

Td! Aate time min&

dt

PV d

K edt K e K CO

d i p

&

+ +

where

9p

!

Proportional gain :o unit

9i! Integral gain 7"second&

9d

!

Deri*ati*e gain seconds&

Allen Bradley Logix5550 Dependent PID

,

_

+ +

dt

PV d

T edt

T

e K CO

d

i

c

& 7

where

9c! Proportional gain :o unit

Ti! Aeset time min"rep&

Td! Aate time min&

Allen Bradley PLC5 Independent PID - Using Integer Blo!s

dt

PV d

K edt K e K CO

d i p

&

+ +

where

9p

!

Proportional gain %#%7&

9i! Integral gain %#%%7" second&

9d

!

Deri*ati*e gain seconds&

Allen Bradley PLC5 Independent PID - Using PD Blo!s

dt

PV d

K edt K e K CO

d i p

&

+ +

where

9p

!

Proportional gain :o unit

9i! Integral gain 7" second&

9d

!

Deri*ati*e gain seconds&

Allen Bradley PLC5 ISA PID - Using Integer Blo!s

,

_

+ +

dt

PV d

T edt

T

e K CO

d

i

c

& 7

where

9c! Proportional gain %#%7&

Ti! Aeset time %#%7min"rep

&

Td! Aate time %#%7min&

Allen Bradley PLC5 ISA PID - Using PD Blo!s

,

_

+ +

dt

PV d

T edt

T

e K CO

d

i

c

& 7

where

9c! Proportional gain :o unit

Ti! Aeset time min"rep&

Td! Aate time min&

Allen Bradley SLC5"0#$SLC5"0% and SLC5"0& ISA PID

,

_

+ +

dt

PV d

T edt

T

e K CO

d

i

c

& 7

where

9c! Proportional gain %#7&

Ti! Aeset time %#7min"rep

&

Td! Aate time %#%7min&

Bailey 'untion Code 'C() *it+ ,-(

,

_

+ +

dt

de

K edt

K

e K K CO

d

i

p

B%

B%

where

9! Cain multiplier :o unit

9p

!

Proportional gain :o unit

9i! Integral reset 7"min

9d

!

Deri*ati*e rate

action

Din

Bailey 'untion Code 'C(5. Independent 'orm *it+ ,-(

,

_

+ +

dt

de

K edt

K

e K K CO

d

i

p

B%

B%

where

9! Cain multiplier :o unit

9p

!

Proportional gain :o unit

9i! Integral reset Aesets"mi

n

9d

!

Deri*ati*e rate

action

Din

Conept PID( - PID Controller

The e(ui*alent continuous time e(uation the ,oncept PID7 PID algorithm implements is!

,

_

+ +

dt

de

TD edt

TI

e Gain CO

7

where

Cain! Proportional gain :o unit

TI! Aeset time milliseconds&

TD! Deri*ati*e 0ction time milliseconds&

Conept PID(P - PID Controller *it+ parallel struture

dt

de

KD edt KI KPe CO + +

where

9P! Proportional gain :o unit

9I! Integral rate 7"milliseconds&

9D! Differentiation rate milliseconds&

'is+er / Porter DCU %#00 C01 Ideal *it+ ,P - (

,

_

+ +

dt

de

TD edt

TR

KPe KC CO

7

If 9p / 7' the abo*e e(uation reduces to!

,

_

+ +

dt

de

TD edt

TR

e KC CO

7

where

9,! Cain constant :o unit

TA! Aeset time min"rep

&

TD! Deri*ati*e term min&

'is+er / Porter DCU %#00 C01 Parallel ,P 2aria3le *it+ ,C-(

,

_

+ +

dt

de

TD edt

TR

KPe KC CO

7

If 9,/7' the abo*e e(uation reduces to!

+ +

dt

de

TD edt

TR

KPe CO

7

where

9P! Proportional gain :o unit

TA! Aeset time min"rep

&

TD! Deri*ati*e term min&

4E 'anu Series )0-%0 and )0-50 Independent 'orm PID

dt

de

K edt K e K CO

d i p

+ +

where

9p

!

Proportional gain %#%7&

9i! Aeset time %#%%7rep"second&

9d

!

Deri*ati*e gain %#%7 seconds&

6artmann / Braun 'reelane #000 PID

,

_

+ +

dt

de

TD edt

TR

e CP CO

7

where

,P! Proportional correction *alue :o unit

TA! Aeset time milliseconds&

TD! Aate time milliseconds&

6oney*ell TDC %000 AP7 1on - Interati2e PID

,

_

+ +

dt

de

T edt

T

e K CO 5

7

7

where

9! Cain :o unit

T7! Integral time constant min"rep&

T5! Deri*ati*e time constant min&

7odion )8& PLC PID# E9uation

,

_

+ +

dt

de

K edt K e

PB

CO E 5

7%%

where

PB! Proportional band :o unit

95! Integral mode gain constant %#%7min"rep&

9E! Deri*ati*e mode gain constant %#%7min&

Siemens S5 PB&( C01T:C PID

+ +

dt

de

TD edt

TI

e Gain CO

7

F

where

Cain! Proportional gain :o unit

TI! Aeset time seconds&

TD! Deri*ati*e time seconds&

;o!oga*a 'ield Control Station <'CS= PID

,

_

+ +

dt

de

T edt

T

e

PB

CO

d

i

7 7%%

where

PB! Proportional band :o unit

Ti! Integral time seconds&

Td! Deri*ati*e time seconds&

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