What is PID Control ?Modulat g Control - PID Modulating Control: In modulating control. the feedback controller operates in two steps. First it computes the error between the controlled variable (the process feedback) and the set point. Then it produces an output signal (to the control valve) to reduce the measured error to zero, This type of control (operating with continuously changing analog values), includes three basic modes: proportional. integral. and derivative. Most modern controllers include the three PID functions; however, loop operation and tuning parameters may only activate a single mode, a combination of two modes, or a combination of all three modes. SetPointModulating Control - PID PID Control + The PID control scheme is named after its three correcting terms, whose sum constitutes the manipulated variable (MV). The proportional, integral, and derivative terms are summed to calculate the output of the PID controller. Defining as the controller output, the final form of the PID algorithm is: . de(t u(t) = MV(t) = Kpe(t) + Kf e(r)dr+ 20, Ib ‘Where Kp is the proportional gain, a tuning parameter Kiis the integral gain, a tuning parameter Kis the derivative gain, a tuning parameter € () ~ SP— PY (i) is the error (SP is the setpoint, and PV(t) is the process variable), 7 is the time or instantaneous time (the present) 7 is the variable of integration (takes on values from time 0 to the present /). Set PeintAodula: g Control - PID Proportional term = The proportional term produces an output value that is proportional to the current error value. The proportional response can be adjusted by multiplying the error by a constant K,, called the proportional gain constant, ~The proportional term is given by: Pon = Kell). » - Ahigh proportional gain results in a large change in the output for a given change in the error. Ifthe proportional gain is too high, the system can become unstable. In contrast, small gain results in a small output response to a large input“ error, and a less responsive or less sensitive controller. Ifthe proportional gain is too low, the control action may be too 4s small when responding to system disturbances. Tuning theory and industrial practice indicate that the proportional term should contribute the bulk of the output change.Modulai g Control - PID Integral term = The contribution from the integral term is proportional to both the magnitude of the error and the duration of the error. The integral in a PID controller is the sum of the instantaneous error over time and gives the accumulated offset that should have been corrected previously. The accumulated error is then multiplied by the integral gain (K;) and added to the controller output. = The Integral term is given by: =m [lacie = The integral term accelerates the movement of the process towards setpoint and eliminates the residual steady-state error that occurs with a pure proportional controller. However, since the integral term responds to accumulated errors from °) the past, it can cause the present value to overshoot the setpoint value Set PeintModulai g Control - PID Derivative term ‘The derivative of the process error is calculated by determining the slope of the error over time and multiplying this rate of change by the derivative gain K,, The magnitude of the contribution of the derivative term to the overall control action is termed the derivative gain, Ky. ‘The derivative term is given by: aed) Dy a Ke Derivative action predicts system behavior and thus improves settling time and stability of the system. An ideal derivative is . so that implementations of PID controllers include ‘an additional low-pass filtering for the derivative term to limit the high-frequeney gain and noise. Derivative action is seldom used in practice though — by one estimate in only 25% of deployed controllers because ofits variable impact on system stability in real-world applications. Set PeintApplication Example With Feedback PID controller - (Water Flow Control) Remar OTR T UN Pies ne Ceres Set Peint