A53 Z0 9 0020 L En Technical documentation
Chapter : Additional functions
13.12
How to set a GPID
13.12.1
Principle
A GPID allows the control of any system in a simple way. Figure 51 shows a typical GPID.
Figure 62 - Typical GPID controller
The G parameter acts as sensitivity adjustment for the other parameters.
The P parameter adjusts the rise time (time needed for the system to reach its set point for the first time).
By increasing P, the rise time will decrease. However, overshoot will increase and may also render the
system unstable (fast hunting). Using only the P factor will always leave a difference between the set point
and the actual value (this difference is also called droop).
The I parameter reduces the difference between the set point and the actual value. By increasing I, the rise
time will decrease. However, overshoot will increase and may also render the system unstable (slow
hunting).
The D parameter increases the stability and minimizes the overshoot phenomena. By increasing D,
overshoot will decrease but the system may still be unstable, particularly if the measured signal is disturbed
(sensor signal not filtered).
13.12.2
Empirical setting method
First set G to 50%.
Set the parameters P, I and D to zero.
Increase the value of P until the system becomes unstable. From this position, decrease the value of P to
60% of the previous value.
Set I in the same way.
Increase D if the system is unstable upon fast load variation.
If stability cannot be achieved, restart the settings and reduce (system unstable) or increase (system too
slow) G.
G: global gain
P: proportional gain
I: integral gain
D: derivative gain
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