Drives Training Foils: PID - Closed Loop Control

Automation and Drives
PID – Closed Loop Control

A&D SD Customer
Service & Support
Aims & Objectives
Using PID
General Principles
PID and MM4
Parameters
Set-Up
Applications
Drives Training Foils

© Siemens AG, A&D SD CS Congleton, 2004
70C PID Closed loop .ppt A&D SD CST 08.05.20 1 of 18
Aims & Objectives

A&D SD Customer
Service & Support
By the end of this foil set you will be able to:
Aims & Objectives
- Describe the purpose of PID Control.
Using PID
- Give an example of where PID Control would be required.
General Principles
PID and MM4 - Describe how PID Control would be used using an MM4 drive.
Parameters - Sketch an overview illustrating the function of PID.
Set-Up - State the purpose of Set Point, Feedback (Measured Value)

and Control Output.
Applications
- Describe how to measure System Response and Stability.

Aims & Objectives

A&D SD Customer
Service & Support
Aims & Objectives
- List the limitations of using the PID controller function of the
Using PID MM4 drives.
General Principles - List the actions that should be followed when implementing
PID Control.
PID and MM4
- List the FAQ's that relate to PID Control.
Parameters
- Describe how to interpret the Function Diagram from the
Paramater List.
Set-Up
- List the parameters used for PID Control.
Applications
- Describe how Scaling should be considered when setting up
the PID Controller.

Aims & Objectives

A&D SD Customer
Service & Support
Aims & Objectives
- Describe the Set Point considerations when setting up the
Using PID PID Controller.
General Principles - List typical Monitoring Points for PID Controller setting up and
trouble shooting.
PID and MM4 - Describe the considerations for MM420 (Trim and Control).
Parameters - Describe how Filters can be used for Set Point and Feedback
(measured Value) values.
Set-Up
- List the key differences between the MM420 and MM440
drives for PID Control.
Applications
- Describe simple ap[plications that would require PIID Control.

Using PID
A&D SD Customer
Service & Support 1. What is PID? FAQ #6440806
PID stands for Proportional Integral Derivative, which are some of the
Aims & Objectives terms used in setting up a Closed Loop System. A PID system is
another name for a Closed Loop control system.
In a closed loop system a process is controlled by observing the result
Using PID of process variable and adjusting the variable to optimise.
In an open loop system the process is controlled without reference to
General Principles the result.
In other words, in a closed loop system there is feedback, in an open
PID and MM4 loop system there is none.
A Closed loop Control System An Open loop Control System
Parameters
Set-Up Motor Motor
Applications Drive Drive

Pump Pump
Flow Rate Feedback

Sensor
Using PID
A&D SD Customer A Closed loop Control System An Open loop Control System
Service & Support
Motor Motor
Aims & Objectives
Drive Drive
Pump Pump
Using PID
General Principles Sensor

PID and MM4
Flow Rate Feedback
In the above example, the closed loop system receives flow rate feedback
Parameters (Actual value) from the sensor, compares it with the desired flowrate
(Setpoint), set by the operator and adjusts the output frequency to correct any
Set-Up error..
Applications In the open loop system, the drive outputs a frequency, and the motor runs at
a speed to provide approximately the desired flow rate, but subject to load,
drift, pressure variations etc.
The difference between the setpoint and the actual value is the error. The
setpoint and actual value are often temperature, pressure, packets per hour
etc. etc.
PID; General Principles

A&D SD Customer
Service & Support
Error Proportional
Aims & Objectives Setpoint-
Desired Process;
Using PID value Scaling, e.g. fan
Integral control; with
General Principles e.g. Drive pressure
control
PID and MM4
Differential
Parameters Sensor
Actual value - e.g. pressure
Set-Up
Applications
Summing point
Error processing. It is necessary to process
the error mathematically to give the best
performance. Selecting and setting these
terms can be difficult.
PID; System Response

A&D SD Customer
Service & Support Step response is a good way to measure system response and
stability
Aims & Objectives
Using PID
General Principles
PID and MM4
Parameters
Set-Up
Applications
Slow response; Slow response Fast Response; This system
to step change may be has overshoot and is nearly
acceptable in temperature unstable; further tuning is
control for example needed.

Implementation on MICROMASTER MM4

A&D SD Customer
Service & Support
Key points:
Aims & Objectives
 MM420 and MM440 have PI control systems built in.
Using PID
General Principles
 Separate setpoints are available for PI control such as Fixed
frequencies ((P2201…) and Motor Pot (P2240)
PID and MM4
 MM420 has only one analog input (probably used for feedback
Parameters signal), so Setpoint must come from another source (e.g. fixed
frequency, motor pot setpoint, serial interface etc.)
Set-Up
Applications
 MM420 has limited control features (e.g. PI only)
 MM440 has scaling and non-linear functions.

PID control with MICROMASTER MM4

A&D SD Customer
Service & Support
FAQ #6440806 FAQ #16512327

Aims & Objectives
Using PID  Key points:
General Principles  Read the FAQs!

PID and MM4
 Use the Function diagram.
Parameters
 Operate open loop first - measure feedback and scale the
Set-Up signal.
Applications
 Use an oscilloscope to aid loop tuning - on 440 use automatic
tuning.

Looking at the function diagrams

A&D SD Customer
Service & Support MM440 5100 PID
•Setpoint channel
Aims & Objectives
Using PID
Summing point
General Principles
•PID Processor
PID and MM4 • Ramp
rates •Upper and lower
Parameters limits
• Output Gain control

Set-Up
Applications
•Feedback channel

Key Parameters (1)

A&D SD Customer
Service & Support
P2200 Enables Controller
P2200 = 1 to enable; for commissioning try P2200 = 722.1
Aims & Objectives [P0702=99] and switch in and out of PID using digital input 2.
Using PID P2251 PID Mode

Allows PID to be used as the main control or as setpoint trim.
General Principles
P2253 Setpoint source
PID and MM4 Connect this to the source of the setpoint; typical values:
755.0 Analogue input 1
Parameters 2224 Fixed Frequencies P2201 etc.
2250 MOP
Set-Up
P2257,2258 Ramp times
Applications Normal ramp times are disabled (except ramp down following an
off command), and setpoint ramp rates are used.

Key Parameters (2)

A&D SD Customer
Service & Support
P2264 Source of PI Feedback
This will usually be an analog input 755.0 or 755.1
Aims & Objectives
P2271 Transducer Type
Using PID This determines whether the frequency increases or decreases in
response to an increase in feedback value. For example, if
General Principles temperature is monitored with a linear transducer, the feedback
value will rise if the motor is connected to a heating blower
PID and MM4 (P2271=0), but if it is a cooling system, such as an air conditioner,
the feedback will fall (P2271=1). The input must also be rescaled
Parameters
P2350 Autotuning (MM440)
Set-Up The Autotuning feature of MM440 will allow the automatic setting
of P, I and D values. The MM440 will run the system and select
Applications the values.
Set the Tuning offset parameter P2355 if there is a long system

time constant.
FAQ #16512327

Setting Up Tips
A&D SD Customer Scaling
Service & SupportScale the feedback correctly. Transducers don’t normally work over
the full range of 0-10V. Set (for example) P0757, P0759 and P0761
to match the normal operating range of the feedback. Use index 000
Aims & Objectives
for input 1, 001 for input 2.
Using PID
If in doubt, run the system open loop and note the feedback signal
(e.g. r0752)
General Principles
Setpoint values.
PID and MM4 Setpoint values are given as percentages, which relate to the scaled
feedback values.
Parameters
Monitoring Points.
Set-Up There are plenty of read only parameters that can help with setting
up and troubleshooting:
Applications
r0752 Feedback signal r2260 PID Setpoint r2273 PID error
r2272 Scaled Feedback
Etc. Work through the function diagram and check out the different
values.
Additional points
A&D SD Customer
Service & Support
Trim and control on MM420

Aims & Objectives A trim (P2254,2256) and gain (P2255) adjustment can be
made to the Setpoint source. This can even be used as a
Using PID separate multiplying source on MM420 by using BiCo
connections.
General Principles
Filters
PID and MM4 There are various filters that can be applied to setpoint and
feedback signals etc. Remember that these may add time
Parameters delays and make the system less stable.
Set-Up Feedback Function Selection

Mathematical functions may be applied to the PID
Applications Feedback using P2270.

MM420 and MM440 - Key differences

A&D SD Customer
Service & Support
1. MM420 has only one analog input, which will probably be
used for the feedback signal, so the setpoint must come
Aims & Objectives
from Fixed frequencies, MOP etc.
Using PID
2. There is no Differential function (P2274) in MM420. This is
General Principles
not needed very often.
PID and MM4 3. The PID may be set to trim mode using P2251 in MM440
only. Trim mode can also be set using BiCo connections.
Parameters
4. Scaling of the PID output is only possible in MM440 using
Set-Up P2295.
Applications
MM410 does not have a PID function; MM430 has enhanced
PID functions….

PID with MICROMASTER MM440.

A&D SD Customer
Service & Support
Application Examples
Aims & Objectives Pressure and flow rate controllers

Especially in Water, waste water and aeration
Using PID Continuous control prevents pressure shock
General Principles Fume extraction systems

Using gas monitor transducer
PID and MM4
Crusher systems
Parameters Rubber and Sugar
Set-Up Simple temperature controllers – cooling or heating
Applications Tensioners in winding applications

Usually with trim function only

A&D SD Customer
Service & Support
Siemens AG
Aims & Objectives Standard Drives
Using PID
General Principles
Martin Brown
PID and MM4
A&D SD CS Congleton
Parameters
Set-Up
Applications

Drives Training Foils: PID - Closed Loop Control

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Automation and Drives

PID – Closed Loop Control

Aims & Objectives

PID and MM4