PID Control Basics

PID Control Basics
PID Tuning
Rob Sink
Technical Support Specialist
June 14th, 2016
Copyright © Yokogawa Corporation of America
1
What will be covered:
1. Common Process Control Techniques
2. Process Dynamics
3. What is PID
4. PID Control Components
5. How to Tune a PID Loop
2
Why do I Need to Understand PID
Ø Every process is different
Ø Makes manual tuning easier
Ø Helps companies save money
Ø Helps facilities remain safe
3
Common Process Control Techniques
ques
Ø Manual Control
Ø ON / OFF Control
Ø Closed Loop Control
4
Manual Control
Ø Operator observes the process error and

adjusts the control output
Set Point
Δ PID CONTROL
Process
Measurement
(Process Variable)
5
ON / OFF Control
Ø Simplest form of feed back control
Ø Can be used for processes not requiring extremely tight

control
6
Closed Loop Control
Ø The PID controller measures the process

variable, compares it to the setpoint and then
manipulates the output accordingly.
Set Point
PV
Measurement
(Process Variable) Final Control Element
7
Process Dynamics: Dead Time
Ø Dead time is defined as the time before the process variable

BEGINS to react to a change in the control output
Output
Process
Variable
Lag Time
Dead
Time
8
Process Dynamics: Lag Time
Ø Lag is defined as the time required for the process

variable to adjust to a steady state after an output change
is performed
Ø Lag time affects the control action
Output
Process
Variable
Lag Time
9
Process Dynamics: Output vs. Process Change
10
What is PID?
Ø PID control refers to process control using the

coefficients Proportional, Integral and Derivative
Ø It is not P&ID which refers to Piping &
Instrumentation Diagram
11
PID Control Defined
Temp
(PV)
Ø PID control can be
described as a set of rules
with which a precise
regulation of a closed-loop
Temp
control system is Setpoint
(SP)
obtained.
12
PID Control Terms
Ø Proportional Band adjusts output amplitude

(reciprocal of Gain)
Ø Integral eliminates offset error (automatic Reset or
simply Reset)
Ø Derivative looks at the rate of change of the error
(Rate)
13
Proportional Band
Ø The Proportional Band (P) is defined as the range over

which the control output is adjusted from 0-100%
Ø Proportional does the heavy lifting getting the temperature
close to the setpoint
Ø Some manufacturers use Gain instead of Proportional
Band
14
Proportional with Manual Reset
Ø With proportional only control, an offset will be

present between set point and process variable.
Ø Manual Reset allows a user to bias or shift the
output to compensate for the steady state offset.
1000º
Manual Reset Adjusted Here
500º Proportional
Set Point Band
Time
15
Integral
Ø Integral action is used with proportional to eliminate the

inherent offset
Ø The integrating term observes how long the error has
existed, summing the error over time
Ø The sum becomes a value added to the output
Integral Action
Proportional Action
Output
+10%
Error
-10%
Time 200 sec/repeat Integral Time Constant
16
Integral – cont.
Ø Engineering units:
Repeats/minute
Minutes/repeat
Seconds/repeat
Ø The integral action ceases at a no error condition
17
Integral at Work
Setpoint
I I I I
Integral started.
Each time period where the error is not zero,

the output is increased (or decreased) by the
Integral term.
18
A Note About Integral Windup
Ø Integral windup refers to the situation in a PID controller

where the integral, or reset action continues to integrate
(ramp) indefinitely
Ø This usually occurs when the controller's output can no
longer affect the controlled variable, which in turn can be
caused by controller saturation
Ø Typical causes of Integral Windup are: The input has been
removed from the process, output device has failed, a
furnace door has been opened keeping the process from
reaching temperature
19
Derivative
Ø Engineering units: minutes or seconds

Ø Anticipates the error rate and applies the “brakes”
Ø Derivative has no effect if the error is constant
Derivative Action
Integral Action
Output
+10%
Error
-10%
Time 50 seconds Derivative Time Constant
20
P, I and D Working Together
P only P and I PID
21
How to Tune a PID Loop
Ø Manually tuning the loop
Ø Using the controllers Auto/Self Tune
22
Manually Tuning a Loop
Ø These values are good starting points

Ø Change only (1) term at a time
Ø Make small changes observing the result
23
Fine-tuning the Proportional Band
Ø Work from larger to smaller numbers (wider to narrower)
Ø If cycling appears, the proportional band is too narrow
24
Fine Tuning the Integral Time
Ø The main goal is to reduce the offset
Ø Adjust from longer to shorter time
Ø If an oscillation exists at a longer period then the

integral time is too short
25
Fine Tuning the Derivative Time
Ø Adjust from shorter to longer time
Ø If short-period oscillations develop, the time is to long.
Ø The larger the Derivative, the stronger the corrective

action and the more likely the output will become
oscillatory
26
Tuning Loops with Dead Time
Set P to 5% and the I & D to 0%
Start the process with a setpoint that will allow the

process variable to stabilize
Output
Process
Variable
Lag Time
Dead
Time
27
Tuning Fast Reacting Loops
Set P to 100% and the I & D to 0%
Start the process with a setpoint that will allow the

process variable to stabilize
28
Using Auto Tune to Determine PID Values
Ø The output is varied between 0% and 100% three

times (these values may be limited).
Ø The process variable must ascend and descend
through set point for the output to change state.
Ø The auto tune algorithm observes the PV response
to these output changes and installs the appropriate
PID terms.
29
Ways to Prevent Overshoot
Ø Limit the working output or enable an output ramp

rate (if available)
Ø Limit the output range which will have an effect on the

time it takes to get to setpoint
Ø Ramp the setpoint at a slow rate
Ø Use fuzzy logic (if available)
30
Fuzzy Logic
Ø Fuzzy logic is used to help reduce setpoint overshoot
Ø Used in addition to PID control
31
Yokogawa Products that Use PID Control
PLC
Single loop controller
Programmable
controller
PLC/RTU DCS
32
UTAdvanced Line of controllers
Ø 1-2 loops of control
Ø Built in ladder sequence control
Ø Software used in Webinar
Ø Nuclear qualified
33
YS1000 Family of Controllers
Ø 1-2 loops of control
Ø Nuclear qualified
Ø Hard manual backup
Ø Function block programming
34
FA-M3 PLC
Ø Modular PLC design
Ø 4 control loops per PID module
Ø PID control is not done in ladder logic
35
Questions
Questions?
Feel free to email us with further questions
at support@us.yokogawa.com.
Please put “PID Webinar” in the subject line.
36
Thank you for attending!
Feel free to email us with further questions

at support@us.yokogawa.com.
Please put “PID Webinar” in the subject line.
37

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PID Control Basics

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PID Control Basics

June 14th, 2016

Copyright © Yokogawa Corporation of America

Copyright © Yokogawa Corporation of America

Ø Every process is different

Ø Makes manual tuning easier

Ø Helps companies save money

Ø Helps facilities remain safe

Copyright © Yokogawa Corporation of America

Ø Closed Loop Control

Copyright © Yokogawa Corporation of America

Ø Operator observes the process error and

Copyright © Yokogawa Corporation of America

Ø Simplest form of feed back control

Ø Can be used for processes not requiring extremely tight

Copyright © Yokogawa Corporation of America

Ø The PID controller measures the process

Copyright © Yokogawa Corporation of America

Ø Dead time is defined as the time before the process variable

Copyright © Yokogawa Corporation of America

Ø Lag is defined as the time required for the process

Copyright © Yokogawa Corporation of America

Copyright © Yokogawa Corporation of America

Ø PID control refers to process control using the

Copyright © Yokogawa Corporation of America

Copyright © Yokogawa Corporation of America

Ø Proportional Band adjusts output amplitude

Copyright © Yokogawa Corporation of America

Ø The Proportional Band (P) is defined as the range over

Copyright © Yokogawa Corporation of America

Ø With proportional only control, an offset will be

Manual Reset Adjusted Here

Copyright © Yokogawa Corporation of America

Ø Integral action is used with proportional to eliminate the

Time 200 sec/repeat Integral Time Constant

Copyright © Yokogawa Corporation of America

Copyright © Yokogawa Corporation of America

Each time period where the error is not zero,

Copyright © Yokogawa Corporation of America

Ø Integral windup refers to the situation in a PID controller

Copyright © Yokogawa Corporation of America

Ø Engineering units: minutes or seconds

Time 50 seconds Derivative Time Constant

Copyright © Yokogawa Corporation of America

P only P and I PID

Copyright © Yokogawa Corporation of America

Ø Manually tuning the loop

Ø Using the controllers Auto/Self Tune

Copyright © Yokogawa Corporation of America

Ø These values are good starting points

Copyright © Yokogawa Corporation of America

Ø Work from larger to smaller numbers (wider to narrower)

Ø If cycling appears, the proportional band is too narrow

Copyright © Yokogawa Corporation of America

Ø The main goal is to reduce the offset

Ø Adjust from longer to shorter time

Ø If an oscillation exists at a longer period then the

Copyright © Yokogawa Corporation of America

Ø If short-period oscillations develop, the time is to long.

Ø The larger the Derivative, the stronger the corrective

Copyright © Yokogawa Corporation of America

Set P to 5% and the I & D to 0%

Start the process with a setpoint that will allow the

Copyright © Yokogawa Corporation of America