Appendix D: PID Controller Tuning Guides D.l_PID Tuning Guide for Self Regulating (Stable) Processes Begin by fing a rst order plus dead tine (FOP) dynamic modelo proces data, Proce” We dined to clade all aac information fen te ut inal of he conor through the neared respons ia of te proces variable, ‘Ococtl proces day tig te mceured proces veabe with «change ia he Soule ouput egal, Fo ascot eas: da pout ecrded ast el at ead eae the proces neat be at steady ste belie fecing dynerereapoase; the Sst tnt or faster (T0.1 rp) 3 contoler utp shuld force the measured process variable to move at leat times the nose band ‘0 Sita FOPDT dynamic model to the proces dataset, A FOPDT model bar the forms © dat collection simple ie shovld be ten times per time Use Design Too ia fH) . in WO) Kp Time Domain:

direct acting) =the tre of xp indies the maximum desirable loop srple time (be sre sample time T<0.1 tp) =the ratio Op / xp indicates whether Smith predictor would show benefit (asf when Op 2 t) the mode! ise is use infeed forward, Smith predictor, decoupling and othe model-based controllers Tew covsaions provide am excellent sat fortning. Final ning ay rogue onine Wal diovan “Bes Tuning dened By you and your krowletigeof the cpus of the process dies of managers, gal of proton, ai impect on ake processes IMC (lambda) Tuning TY, this tean Tae Aagesive Tang, tg ithelngrot Oly or 086y | Catania Modest Tuning X¢ inthlanot LOtp or $Bp | POnW IMC onte Conservative Turing: t¢ isthelamerof 10tp or 800 p y » « Poniy” Pl tp PID ideat sp 4050p PID Interacting p 0507 ep 0580p app ‘clep 4050p) Tep+op eelee+ Op) PID Interacting wifilter P 0S0p “S 285 5 Contol by Dowgle J. Cooper Copyrat © 2008 by Contl Staton, Ie