The ability of PI and PID controllers to compensate many practical processes has led to their wide acceptance in industrial applications The requirement to choose two or three controller parameters is most easily done using tuning rules Starting with a general discussion of industrial practice, the chapter will provide an outline of tuning rules for continuous-time PI and PID control of time-delayed single-input, single-output (SISO) processes

An Overview of Tuning Rules for the PI and PID Continuous-Time Control of Time-Delayed Single-Input, Single-Output (SISO) Processes

Background/Objectives: The main objectives are to define the concept and application of PID control in parallel structure of PID controller and to describe implementation of the continuous PID controller in SIMATIC STEP 7. Methods/Statistical Analysis: Various designs of PID controllers in SIMATIC STEP 7 are available for different kinds of feedback control systems. Parallel structure is used in the algorithm of PID controllers in Siemens PLCs. In this study PID controller with the continuous control function block FB41 (CONT_C) is analyzed. Programming with PID controller in Siemens PLCs with continuous Manipulated Variable output and the option of influencing the Manipulated Value manually is thoroughly discussed. Findings: PID controller is the most common form of feedback control and it can be found in all the areas where control loops exist. The simplicity of understanding of the PID algorithm is one of its advantages but due to a wide range of systems and different manufacturers of control systems with various design and tuning methods of PID controllers in their products, the implementation process gets complicated. This difficulty is reduced by using several kinds of PID controllers for different types of systems in Siemens control systems. FB41 is a function block of continuous PID controller which was designed for Siemens PLCs to provide control performance with analog signals; it can function both in a manual and automatic mode.The most important part of FB41 functioning is addressing of the analog Input and Output in this function block. The results of P, I, D, PI, PD and PID controller implementation in FB41 have been compared. Applications/Improvements: This continuous control function block can be used in different kinds of control loop systems where analog input is sensed and analog output is required.

Concept and Application of PID Control and Implementation of Continuous PID Controller in Siemens PLCs

An extensive though scattered literature exists on the estimation of the model parameters of time delayed processes. However, it is possible to identify themes that are common to many of the proposed techniques. The intention of this paper is to provide a framework against which the literature may be viewed.

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Time delayed process model parameter estimation: a classification of techniques

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Tuning of PID-type controllers:literature overview

A proportional integral derivative (PID) controller is most widely used to control industrial processes. Tuning a PID controller is an important task for obtaining the desired closed loop specifications (rise time, settling time, peak time, overshoot and steady state error). This paper presents different PID tuning formulas for a third order process. They are based on the knowledge of the ultimate gain, ultimate period and minimization of integral squared error (ISE) and integral absolute error (IAE).The performance of various tuning methods has been compared by applying a step input to the given process. Simulation results show that tuning a PID controller with Ziegler Nichols (ZN) tuning method results in less rise time (tr), peak time (tP), and integral squared error (ISE). The Relay Auto tuning method is applicable when less ISE is required while Modulus Optimum (MO) tuning method is applicable when less settling time (tS) and less overshoot is required and Computational Optimization (CO) method is helpful when the desired closed loop specifications are decided by the designer. The robustness factors gain margin (GM), phase margin (PM), gain crossover frequency, phase crossover frequency and stability are considered. The proposed approach is implemented in MATLAB.

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Comparative Analysis of Different Methods for the Tuning of Pid Controller

This work presents dominant pole design (DPD) methodology, one MATLAB implementation of DPD and its usage. DPD for PI and PID controllers is derived, and on this basis MATLAB toolkit for three-pole method (3PM) has been developed. The least squares procedure for finding functional dependence of PID controller parameters on process parameters is described. This least squares procedure has been applied to the first order process with dead time (FODT) obtained functional dependence, expressed through tuning formulas, is presented. Performance of PID controller tuned with 3PM tuning formulas is compared to the performance of PID controller tuned with integral criteria derived tuning formulas. Observed characteristics of DPD method are given at the end of the paper.

Toolkit for PID dominant pole design

A Method of PID Controller Autotuning

Comparison of several recursive identification methods

This contribution presents a modified autotuning algorithm of the PID controller. The motivation for the modification of the basic autotuning algorithm is to enlarge the class of processes to which it can be applied. The basic autotuning algorithm introduced by Astrom and Hagglund is extended by the preliminary identification procedure and through the usage of the dead time compensating controller. These modifications are detailed through the description of the algorithms' functioning. The proposed algorithm has been implemented in the programmable logic controller (PLC) Siemens SIMATIC S7-300. The experimental results confirm the good robustness properties of the proposed algorithm, which were demonstrated in a simulation study.

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Ivan Branica

Papers

Toolkit for PID dominant pole design

A Method of PID Controller Autotuning

Comparison of several recursive identification methods

Modification and application of autotuning PID controller