How to Tune a PID Controller 

I started tuning controllers in the late 70's vacuum tubes no less, went on as a engineering tech for KC. Did 30 years til retirement. Tuning a pid loop is more art than science. I never used derivative. derivative is like pouring molasses on the loop.

I'm a chemical engineering senior and I took Process Control last semester. My "Professor" read a PowerPoint in broken English and muted all chat and turned off cameras. I learned more from these 2 videos than I did that entire semester

You guys have just cut my anxiety in half... all your videos. Thank-you so much!

Currently writting a report on PID controllers as part of my control and mechatronics unit for engineering, very useful video and well explained, I liked the added information around noise in the derivitive gain, and the different layouts of a PID controller (Parallel and series ect)

This is the best short video I've seen about PID, really like your content, understandable, interesting and straight up to the main point, this channel is awsome!! ¡Saludos desde México!

Most PI setups, fill void of missing D with feed forward, specially in motion applications. It's worth to include this parameter in next videos. Thanks guys and keep up the great work

The analogy to a person holding their hand on a valve and opening or closing it while monitoring a pressure or temperature increase/decrease is a good one. Potentially worth incorporating into future explanations. You can intuitively understand that opening a valve rapidly would result in a big change, because most people know what happens in their shower when they turn towards the hot too fast!

I've studied PID-controllers in university but found that my knowledge is really chaotic and unstructured. This video really helped me to structure the data. Looking forward to a new one on this topic!

Thanks so much for this clarification!! Respect from a Bangladeshi Automation Engineer.

Most processes will benefit from adding the D coefficient. Start by slightly decreasing the Pb and setting a small D coefficient. This is especially helpful when you want to tune to be more aggressive (smaller Pb) but to minimize overshoot. Use higher D coef for systems that have higher momentum (which tend to be slow processes with undesirable overshoot).

at school the trial&error process is not explained, but the model of the controlled system is rarely know so to me this is the only option. thank you

PLC programming software like Emerson's Proficy Machine Edition and Schneider Electric's Control Expert have PID blocks. It would be really awesome if you guys made a longer video or video series where you explore the different parameters in PLC programming PID blocks, the math behind the parameters, and then maybe tune something like a valve opening/closing. I know that's asking for a ton, just throwing stuff out there that I would personally really love to see! Thanks again for the great informative videos!

I would LOVE to see the scientific approached explained. Looking forward to that video.

A very good demonstration, thanks for your great efforts. From Systems Engineer. I have tried auto tuning several times and it does not work. So the best tuning method what you have explained in the last section, adjust P first, then adjust T, then fine tuning.. Thanks again.

Great introduction to PID and Exactly the info. I need now. To the point for beginners like me. Thanks.

So much of respect for RealPars effort...

This video is fantastic! I've got to adjust the pid loop for my turbocharger controller, this really helps!

I usually set the proportional band (gain) to zero, and set the setpoint a little below what I need so when it overshoots it wont hurt anything. The temperature is going to oscillate at a specific frequency that is natural to the process. If you know that frequency (time period for 1 cycle) and the temp extremes you have everything you need to enter PI and D values. Get a stop watch, start it at the precise moment the heat turns off, on rise, just after PV passes the set point. PV will overshoot and start to cool. Note the max temperature. Its going to cool and just after crossing the set point the heat will come back on. The temperature will continue to drop, then bottom out at a certain value. Note that min temperature. The temperature will rise and just after it passes the set point the heat will turn off, stop the stopwatch at that precise moment. You now have everything you need to dial it in on the first try. Note the max and min temps (subtract the max from the min), what percentage is that value of the set point? Enter that percentage for your gain (P). The total time it took in seconds is the reset number (I or Ti). Take that Ti number and divide it by 6 and that is the Td (D) value (a good starting point for an oven). That is usually enough for everything to settle down to a nice flat line. If it is still oscillating make the proportional band larger. If it is too twitchy (reacts to quickly to changing input) or never quite recovers from an overshoot, lower the derivative. If you use this method rarely is the I off because you can very accurately measure it. Don't play with this number, especially if you got it after the system was all warmed up.

Thanks a loooootttt. I have cleared after years for PID controller.🙏🏻

I am following this channel since Long time you Explan every Topic in a very simple Way PID is very Complicated Topic but you can Explain in a simple way so please make more videos about PID.

This was such a great review and tutorial. Love it.

For fast processes usage of D is essential. In fast electromechanics, for example. Head working in the HDD, as I know, is PD.

I cant wait for scientific approach explained. Thank you alot, that help me clearly about PID controller

Great explanation!

Thank you for your informative story!!!

Congratulations on a well-presented video. When our daughter was born, I decided that through playing, she would learn analysis, logic and reason, and rational thinking, rather than develop her memory to be able to recite what she read. I played with her by making her many wooden toys relevant to dynamic behavior rather than her playing with static toys. The use of mediums that do not keep their shape as, water and sand and balls and rubber bands, which could be used in both static and dynamic behavior was very helpful, in coaxing my daughter to see what matters most, but cannot be seen nor said, so easily to young children. The idea that children should be conscious of how their toys can have a Position, Velocity, Acceleration, or RATE OF CHANGES interested me, while how a child could be conscious of what needs to be "integrated" while they play, was another issue that racked my mind. * Teaching how a toy could be placed in a location is easy for any child as it is only a static situation with no rate of change. * Catching a ball in the still air, becomes more challenging. * Catching a ball while the wind is blowing at a constant rate of change or when gusting becomes an interesting mind process. * POSITIONING a toy in a particular location when the toy is suspended from a solid rod, or while the toy is suspended from an elastic rubber band, has its difficulties, and it is interesting how a child learns how to tackle the issue of positioning a toy in its place when this hangs by a non-stretchable or a stretchable string/ elastic band when there is no wind, or with constant side wind and with bursts of side wind from a fan. It is interesting to see the oscillatory motion that takes place as the child operates her hand according to the error angle when the toy reaches its final point and its inertia takes it to overshoot the target. * It is interesting how a child learns to slow down the action by introducing a slower RATE OF CHANGE by using her eyes to detect how fast the toy is approaching the target position. Through his eyes, a child detects the velocity of the toy and this is why it is imperative for children to play with dynamic toys rather than being told to just read books to study hard!! These proceedings in detecting the RATE OF CHANGE or the Derivative of position one can do by giving a moving object at least two glances where the difference of distance will give an idea of the velocity. In the industrial world, one can use a tachometer that operates on the rate of change of its coils with respect to the magnetic field but a human can do it with two consecutive glances. It is this issue of being conscious of how fast the toy is moving which would help a child slow down the final movement of approach as he comes close to the target to hit. The Derivative control signals can be learned very quickly by a child who plays with toys that have motion as bouncing balls and placing toys in their place at a fast rate. Writing the alphabet is a perfect manner to teach all the control processes that exist in an automatic control system and I do believe that people who cannot write neatly have some issues with their combination of body/mind control which is the motoring and signal processing system. * If a child is asked to place a toy that is suspended by a string on a particular location on the ground without the toy being placed on the ground, the child would do it and he would notice that the string suspending the toy is perfectly vertical with the suspension point right above the toy at the final positioning, hence no positional error exists. If the child is made to suspend the toy on its target point while a fan is placed to blow the wind horizontally, then the child at first pauses and tries without thinking too much but he would soon realize that he need to pull the hand towards the fan to ensure that the inclination of the string will pull the toy on its target while the fixed inclination on the string towards the fan will generate a force that will overcome the side drag force generated by the side wind. The child soon learns about using the first integral to get a zero error when the toy is loaded with a side wind. That is INTEGRAL CONTROL. I used to find it interesting with our daughter to set up a windy condition which is bursting effect n pulses and she used her eyes to predict what I am going to do it and she used to react beforehand, which is a prediction capacity that no industrial machine can have unless its environment is carefully monitored. When I did not permit our daughter to predict the bursts of wind then she was rather aggressive on her hand motion and I would attribute this action to a double integral action to account and react for the burst of wind faster than she would have done with a constant side wind blowing. I am fortunate to say that my daughter learned all this through playing with dynamic toys and she had no idea that she was handling PID control, but also acceleration feedback or double derivative or double integral, which could be said to be useful in controlling burst of wind.................though the use of acceleration and double integrals could be exciting due to the integrals introducing delays hence instability. Learning balancing and roller skating, ice skating, skiing on water and on snow, and balancing acts and all sport have PID control in the human having to catch or aim at a target. Unfortunately during WW2 which I remember, many young pilots died because they could not handle oblique shots at the aircraft in front of them, which not only requires a PID and detecting the rate of change at higher levels to be able to predict where the target is going to be. Getting drunk is a good way of analyzing the delay effect of applying the PID when one is sober and there one begins to understand why a drunk person oscillates to a point of instability. Well, when our daughter was of age, I took her flying and I had told her that if she wants to learn how to drive any vehicle including bicycles, motorcycles, cars, she should apply continuous movements as that would be applying a persistently exciting input which would cause the craft to undergo all movements and hence the craft would PROJECT ITS OWN CHARACTERISTIC very quickly to the operator. Well, when our daughter flew for the first time I had to take a back seat as she sat near the pilot who gave her the controls when it was safe to do so. As she took the stick in her hand, she gently applied a continuous repetitive oscillatory pitch control to which the aircraft reacted and after that, she did the same with the rolling control which she gently repeated in an oscillatory manner. Then she went for the rudder control. With her persistently excitation signals the aircraft was made to give all its secrets and information that was required about the delays in its inertia. As it was a slightly windy day, I asked her to take a route sideways to the wind and she quickly reacted to the use of the rudder to keep the aircraft straight. I had prepared the pilot as to what she was going to do and I saw him smiling, and after the flight, he said, " Does your daughter know about PID control?" to which I replied, " She does not know them by those letters or that language written or spoken symbols/words, but she knows when and how to apply them, while she plays and follows any sport and about her own stability in all circumstances of her life, even while applying lipstick and makeup which need accurate hand control. Basically, our life motion ranges from situations involving RATE OF CHANGE OF ACCELERATION, ACCELERATION,(A) VELOCITY (D), POSITION (P), FIRST INTEGRAL (I forCONSTANT WIND LOADING), AND (SECOND INTEGRAL POSSIBLY USED WITH GREAT CARE IN BURSTING WINDY CONTITON /LOADING) to replace that which cannot be predicted and could affect the motion of any entity.

Nice explanation, hope that a video on adjustable parameters is coming shortly

Really clear explanation . Thanks!!

Very nice 👌 , thanks for taking effort for making this topic very interesting ,,, gain paramater also help in Set up PID loop in Siemens drive

Very succinct explanation. Thanks

Thank you for the knowledge provided.

Thanks for the very informative video!

Nice work! Just wait for another video👍

Imagine all University lecturers were like this gentleman💓👏 , I have studied and paid my fees, but it is now that this subject is made clear with real life explanation and examples

great explanations… i wish i watch this sooner

great explanations! please make video on temperature PID controllers..

Love this,

Auto tune features have become my best friend 😊

Sir..Which software are you use for this presentation?

Thanks for clearing my doubts. I watched many video about PID many channels saying past present future. But by watching this video. I realized what is past present and future. Can u post the video about auto tuning process of PID for set value.

Thank you! Saved me!

Howdy. A really good walk-through of basics. In Europe the SV - MV is usually considered positive control. That is when SV is increased it will increase the CV. I seem to reember that Omron PID units employes the negative terminology. This is that MV - SV is considered positive. If a PLC PID function block is used to control a process wich is found difficult to control fast enough still accurately a dual PID approach could help. The master PID will control the process and the slave PID will feed variable P, I and D values to the master. So. When the MV is way off the slave feeds large gain and a small I time constat to the master resulting in fast approaching. When MV is close to the SV the slave will begin feeding less gain and larger I time constants. This master - slave PID:s is actually close to the Fuzzy Logic method. In high regards.

Thank you for your great videos, very intuitive and useful! A remark about Ki and Ti at 2min23 shouldn't it be expressed as Ki=Kp/Ti if we talk about cycle per minute or per second?

Fabulous tutorial Sir, could you explain in the function domain in the integral term how to adjust the Time value, so the integration limits? Is there a formular to calculate them, or can you adjust them as you want? Thank Youvery much

Is there any mobile app to find gain values by giving pv and set point

Perfect 👏🏻

Great presentation

Amazing 😍

Very good job sir❤️

Vamos muchachos ustedes pueden crear estes fantásticos videos en español! yo se que si! esperare por ellos!

Thank​ you​ 👍🏻

really very informative 👏👌

Many many thanks sir

Well done mate keep going 👍

Thank you.

🎯 Key Takeaways for quick navigation: 00:01 *A PID controller calculates P, I, and D actions based on the error, producing a Control Variable.* 01:03 *The proportional term, or P Constant, determines system responsiveness and can be referred to by various names depending on the controller type.* 01:33 *The integral term, or I Constant, removes steady-state error and can be measured in different units, affecting its adjustability.* 02:55 *Derivative constant units are typically seconds or minutes, used for predicting change in the Process Variable and creating a faster loop response.* 04:23 *Other parameters for PID controllers include algorithm types, filtering, anti-windup, and process characteristics, but are more advanced and better left for future exploration.* 05:16 *Tuning a PID loop often involves trial and error, aiming for a stable process with minimal oscillation, considering the implications of parameter adjustments on the process.* 07:38 *While PID controllers offer many parameters for adjustment, a PI controller is often sufficient for most processes, with incremental adjustments to P and I parameters for stability.* Made with HARPA AI

Thank you

Thanks.

Much appreciated, how to implement PID parameters to control a camera servo in C++ ? Please explain bit more.

This looks like the same problem of correctly damping a harmonic oscillator. The aim is to get the damp factor to 1 to achieve critically damped state. That is the quickest way to stop the oscillation.

The art of tunning a PID Controller .

Derivative in controllers seems useful if you just average out more than one previous value, to make sense of some noise. Also it seems like an integral of the whole signal since time 0 would be useless/meaingless - wouldn't you only want recency when doing the integral? how does that work?

P command is proportional to the error, I checks and makes sure error is adjusted to centre set point, D looks are the displacment speed of error from set point to minimise overshoot. Engineers correct me if i'm wrong please.

Excellent video. At 3:30 ( for derivative) what do you mean by saying, " how far in future you want to predict rate of change"? So, what is this "how far in future"? Thanks for your excellent work.

Excellent Videos as always Real Pars. I have one question. Is there any other kind of controller better than PID?

So good video

One scientific method could be using a model of the plant/system and applying classic design methods such as Frequency Analysis, Root Locus etc. I typically use Frequency Analysis. This allows the designer to evaluate the stability margins of the closed-loop controller. One of many advantages over trial and error tuning. Stability evaluation is a very important to do for professional implementations. You want to make sure that your controller performs reliably for a range of variabilities. Models can be derived analytically or by various measurements. For electro-mechanical systems, e.g. motors, I often use a simple 1. order model where I determine the mechanical time constant from measurements. I use the mechanical time constant as this is the most dominant when compared to the electrical time constant. There are benefits to using higher order models, both in performance and design features, but often 1. order models are good enough and quick to derive.

My experience with Omron controller to control water pump pressure: choose Proportional band is 100, Integral is 10,it will work ok

conceptual👍

Perfect video. Question; why Integral mode is called Reset?

You are better and give better.

7:59 Please cover that in future videos. Thanks.

How is the gas to air ratio of the boiler set? Please make a video of him.

Excellent channel, I hope translation into Arabic will be available caption.

Long life and prosperity

nice

Sir, please make video for rtd lead wire compensation

Wow all this time I thought PV meant "present value". We have these PID controls at the wastewater plant i work at.

Isn't the INTEGRAL is the sum of all measured errors instead of measured values as stated? Please help to clarify. Thanks!

Cool video! Very, very weird to hear "intReg_al" from an experienced speaker though....

How to use PID in PLC S7-1500 ?

Hi, I have a question, because I know how to program a PLC in ladder language, but I don't understand, in real life, how do you program a PLC with PID? Or do you need a special PLC? Really I don't understand how to apply this theory in practically way

🌺😘

Process Variable, Set Point Variable, Control Variable??

Please to be add videos for adjust parameters of PID

Will you make a vedio on SSR(Solid State Relay)

👍🏻🇮🇳

I can’t agree with this methodology with respect to tuning a loop in a chemical process. Inducing a loop to near ringing is highly dangerous. I also never would recommend expecting the proportional parameter to ever return to set point, that’s an error the integral parameter solves over a desired time. A P only loop ever reaches set point. Process dynamics assures that. Lastly, if you don’t understand the process the loop is controlling, you’ll probably end up doing more harm than good.

Intregal

🥺😓😓Can you translate into Arabic, because this is my graduation topic, please