Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Scribd
Upload
2 views

PID Controller Tutorial

A PID (Proportional-Integral-Derivative) controller is a feedback control mechanism used in industrial systems to minimize the error between a desired setpoint and the actual output by combining three components: Proportional, Integral, and Derivative. Tuning the controller involves selecting optimal values for these components, and it can be implemented in hardware or software. While PID controllers are easy to understand and suitable for various applications, they require precise tuning and may struggle with nonlinear systems or high noise environments.

Uploaded by

nirmalsuresh90
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
2 views

PID Controller Tutorial

A PID (Proportional-Integral-Derivative) controller is a feedback control mechanism used in industrial systems to minimize the error between a desired setpoint and the actual output by combining three components: Proportional, Integral, and Derivative. Tuning the controller involves selecting optimal values for these components, and it can be implemented in hardware or software. While PID controllers are easy to understand and suitable for various applications, they require precise tuning and may struggle with nonlinear systems or high noise environments.

Uploaded by

nirmalsuresh90
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 10

Overview On PID

Controller

A PID (Proportional-Integral-
Derivative) controller is a feedback
control mechanism widely used in
industrial control systems to regulate
processes. It combines three essential
components: Proportional, Integral, and
Derivative. These components work
together to minimize the error between a
desired setpoint and the actual output.
PID Controller

01. Basic Concept of PID Controller


The PID controller calculates an output (control variable)
based on the error signal, which is the difference between the
desired setpoint (SP) and the process variable (PV):

The PID control law is:

Where:
u(t): Control output.
Kp​: Proportional gain.
Ki​: Integral gain.
Kd: Derivative gain.
e(t): Error signal.
PID Controller

02. Components of PID


a. Proportional Control (Kp)

Provides control output proportional to the error.


It helps reduce large errors quickly.
Limitation: It cannot eliminate steady-state error.

b. Integral Control (Ki)

Accumulates past errors over time and integrates them.


Eliminates steady-state error.
Limitation: Excessive Ki can cause oscillations.
PID Controller

c. Derivative Control (Kd​)

Responds to the rate of change of the error.


Improves stability and predicts future errors.
Limitation: Noise sensitivity.

03. Tuning a PID Controller


Tuning involves selecting optimal Kp​, Ki and Kd values.
Popular tuning methods include:
a. Ziegler-Nichols Method
1. Set Ki and Kd to zero.
2. Increase Kp​until the system oscillates.
3. Calculate Kp​, Ki​, and Kd using predefined rules.

b. Trial and Error


1. Adjust Kp​, Ki​, and Kd​incrementally until the desired
performance is achieved.
PID Controller

04. PID Controller Implementation

PID controllers can be implemented in various forms, such as:


Hardware-based: Using analog circuitry.
Software-based: In microcontrollers or PLCs.

Discrete PID Implementation

The discrete form is commonly used in digital systems:

Where Δt is the sampling time.

05. Advantages of PID Controller


Easy to understand and implement.
Suitable for a wide range of applications.
Provides good stability and performance.
PID Controller

06. Limitations of PID Controller


Requires precise tuning.
Struggles with nonlinear systems or systems with high
noise.
May require additional filters for noisy environments.

07. Applications
Temperature control (e.g., ovens, HVAC systems).
Speed control of motors.
Process control in chemical industries.
Robotics and autonomous vehicles.

08. Practical Example


Example: Temperature Control of a Heater

Setpoint: Desired temperature (e.g., 100°C).


Process variable: Current temperature (e.g., 90°C).
PID adjusts the heater's power to reach the setpoint.
PID Controller

09. Example C Code: PID Controller


Here is a basic example of implementing a PID controller in C
to control the speed of a motor. This example assumes you
have sensors to read the actual speed and an actuator to
control the motor's power.
PID Controller
How It Works
PID Parameters: You can adjust Kp, Ki, and Kd values
to tune the controller for your system.
Error Calculation: The difference between the desired
setpoint and the actual process variable is calculated.
PID Terms: Proportional, Integral, and Derivative terms
are computed using the error.
Control Output: The sum of these terms provides the
control signal to drive the actuator (e.g., motor).
Simulation: A simple function simulate_motor is used to
test the PID controller without actual hardware.
Sample Output: For a setpoint of 100 RPM and starting from
0 RPM, the output might look like this:

Next Steps
Real System: Replace simulate_motor with real sensor
input and actuator output.
Tuning: Use methods like Ziegler-Nichols to find optimal
PID gains.
Enhancements: Add anti-windup for the integral term or
implement filtering for derivative noise.
Was it Like

helpful? Comment

follow for more!


Share

Chetan Shidling
@chetan_shidling_ Save

www.cselectricalandelectronics.com

You might also like