PID Regulator

Simple, robust (works also poorly config. )  the most widely used

Setpoint Process Variable

SP + CV(k) = f(e(k)) PV Value
e R Process
- Control Variable
( manipulating variable )

 1 de(t ) 
CV (t )  Kp e(t )   e(t )dt  Td 
P 
Ti dt  ideal non-interacting PID algorithm
coefficient
I D Basics: https://youtu.be/EqEqEdOx-x8
part part

e(t) D
Regulator output (CV ) is computed from error
P
signal present and past values and future
I
tendency
t
Google: „Control Engineering A guide for beginners“

Process Variable transient

PV(t)

Overshoot
+
SP
-
offset

t t 
PV(0)

tsettling

1
 PID controller

P - Proportional action CV (k )  Kp  e(k )

bigger Kp (narrow PB) gives faster response, CV(k)
P alone leaves offset error
100%
VisiLogic Help > Ladder > FBs Library > PID FB + Auto-tune
> General Background > Inside the PID Function
> Proportional Band / Integral / Derivative Action 0% 0
e
Proportional
band
I - integral action, reset action [%] of PV range

removes static deviation, can add oscillations and “wind-up”

CV = const. when e = 0
CV  const. when e  0
Ti - integral time
larger corresponds to reduced I component

D - derivative, rate action Td - rate time

larger corresponds to increased D component

responds to the rate and direction of change in the e

preventing the overshooting and oscillations
allowing to choose stronger P and I

Integral „wind up“

CV output at 100%, a condition called saturation, can take place

VisiLogic Help > Ladder > FBs Library > PID FB + Auto-tune
> General Background > Inside the PID Function
> Integral Action

2
 V200-18-E2B Analog I/O

Control output 0-10V (#0 - 4096)

= heating 32|40...70 C°

0-10V (#0 - 1023) from

Rin >100k RU_load > 1k (Iload < 10mA)
temperature control kit RI_load < 500
Umax < 15V
= 0...100 C° degrees error < 0,2% error < 0,2%

Analog I/O Configuration

Before you can use an analog input/output in your program, you must link it
to an operand. An analog input value can be contained in an MI, ML, or DW.
See VisiLogic Help > Hardware Configuration > Snap-in I/O Expansion Modules

A input0

PID: Control Value – the PID Output

3
 Temperature control kit components
LM35DZ – 2...100 Centigrade Temperature Sensor
(linear 10mV/C°,  1.5°C accuracy)
LM358N – Low-power dual operational amplifiers DIP8
L7812CV – 12V voltage regulator - generates heat flow
(w. thermal overload protection)
A transistor amplifies control signal and modulates heating current
+4…30V +(3)..11,5…30V +15…25V ≤ 35V

0,33F
VOUT 11,4…12,6V
LM35 VOUT 0…1V
VOUT 0…10V
L7812
Rin CV
DZ
T ≤ 125°C

Control
output 0…10V
Umax ≤ 32V
OUTPUT

INPUT
T ≤ 175°C
BOTTOM VIEW GROUND

C B

Power On Process Self Heating

Analog Input0 value – Temperature sensor

34°C

30°C

time [s]
Analog Output0 value = 0; CV =0

4
 Write to Data Tables

Open example M:\Andres Rahni\PLC\ A input for PID.vlp

0...1023
0...1000
0...1000
0...1000
0...1000
Read
row #; 0...299 from
Read Table
Read from
from Table Linearization
Table

0...1000

cur-3
cur-2
cur-1
current row

Store Process Data to Tables

0. Read Structure and Values from PLC

1. Select Cells –
2. Copy
3. Paste in Excel
or Export to

5
 PID Configuration

350

Run PID

Reset to
stop PID loop

MB 0 ?

6
 PID Auto-Tune Stages

Reset if
AT does
not ends

PID Auto-Tune Stages

PID FB collects process data

T(0)+12°C
40°C
CV=4096 100%
=10V
Control
variable

CV=2048
= 5V

Temperature
sensor

T(0)=29°C 0%
time [s]

7
 PID FB Status Integer
PID error indications are given in the Status Messages MI
See VisiLogic Help > Ladder > FBs Library > PID FB + Auto-tune

0 FB status OK
1, 2, 3 Auto-tune in progress
4 PID running
5, 6 Setpoint change in progress
7 Integral-wind up
8 integral-wind down
9 Pause mode, Integral and Derivative values are not currently being calculated
10, 11 PV exceeds proportional band, no calculation performed
…

ISS0089 ADVANCED PROGRAMMABLE LOGIC CONTROLLERS

autumn 2018
Homework 3 – Vision 230 and PID regulator
Plant
Vision 230 controller and Temperature control process kit

Tasks:
Program a process PID control algorithm for temperature control in controller.
Program must be able to stop the PID control (CV = 0),
adjust the temperature setpoint between reasonable limits and run it again.

On controller display User Interface show temperature current value (and short
history), control variable (CV) current value, PID current mode
and all (manual mode) commands choices: STOP, RUN AT | PID.

In your report list the program, PID controller configuration, user interface
manual and a setpoint change response (from self heated temperature level to
45..55°C level) graph. To draw graph, program must be able to store CV, (SP)
and PV values for approx. 5 minutes.