personnel.
Ziegler–NicholsProven Method. Online method.Process upset, some
trial-and-error, very aggressive tuning.
Software ToolsConsistent tuning. Online or offline method. May include
valve and sensor analysis. Allow simulation before downloading.Some cost
and training involved.
Cohen-CoonGood process models.Some math. Offline method. Only good for first-order processes.
3.1 Manual tuning
If the system must remain online, one tuning method is to first set the I and D values to zero. Increase the P until the output of the loop oscillates, then the P should be left set to be 13
approximately half of that value for a "quarter amplitude decay" type response. Then increase D until any offset is correct in sufficient time for the process. However, too much D will cause instability. Finally, increase I, if required, until the loop is acceptably quick to reach its reference after a load disturbance. However, too much I will cause excessive response and overshoot. A fast PID loop tuning usually overshoots slightly to reach the setpoint more quickly; however, some systems cannot accept overshoot, in which case an "over-damped" closed-loop system is required, which will require a P setting significantly less than half that of the P setting causing oscillation.
3.2Ziegler–Nichols method
Another tuning method is formally known as the Ziegler–Nichols method, introduced by John G. Ziegler and Nathaniel B. Nichols. As in the method above, the I and D gains are first set to zero. The "P" gain is increased until it reaches the "critical gain" Kc at which the output of the loop starts to oscillate. Kc and the oscillation period Pc are used to set the gains as shown:
3.3 PID tuning software
Most modern industrial facilities no longer tune loops using the manual calculation methods shown above. Instead, PID tuning and loop optimization software are used to ensure consistent results. These software packages will gather the data, develop process models, and suggest optimal tuning. Some software packages can even develop tuning by gathering data from reference changes.
Mathematical PID loop tuning induces an impulse in the system, and then uses the controlled system's frequency response to design the PID loop values. In loops with response times of several minutes, mathematical loop tuning is recommended, because trial and error can literally take days just to find a stable set of loop values. Optimal values are harder to find. Some digital loop controllers offer a self-tuning feature in which very small setpoint changes are sent to the process, allowing the controller itself to calculate optimal tuning values.
Other formulas are available to tune the loop according to different performance criteria.
4 Modifications to the PID algorithm
The basic PID algorithm presents some challenges in control applications that have been addressed by minor modifications to the PID form.One common problem resulting from the ideal PID implementations is integral
windup. This can be addressed by:
Initializing the controller integral to a desired value
Disabling the integral function until the PV has entered the controllable region
Limiting the time period over which the integral error is calculated
Preventing the integral term from accumulating above or below pre-determined bounds Many PID loops control a mechanical device (for example, a valve). Mechanical maintenance can be a major cost and wear leads to control degradation in the form of either stiction or a deadband in the mechanical response to an input signal. The rate of mechanical wear is mainly a function of how often a device is activated to make a change. Where wear is a significant concern, the PID loop may have an output deadband to reduce the frequency of activation of the output (valve). This is accomplished by modifying the controller to hold its output steady if the change would be small (within the defined deadband range). The calculated output must leave the deadband before the actual output will change.The proportional and derivative terms can produce excessive movement in the output when a system is subjected to an instantaneous "step" increase in the error, such as a large setpoint change. In the case of the derivative term, this is due to taking the derivative of the error, which is very large in the case of an instantaneous step change. PID控制器英文文献和中文翻译(4):http://www.751com.cn/fanyi/lunwen_13019.html