6.3.4
Tuning PID regulators
The analogue-controlled regulators use PID control.
The PID settings must be checked as part of the commissioning.
Governor tuning parameters
For analogue-controlled governors, set these parameters under Configure > Parameters > Regulators > Governor:
Analogue output settings:
Heading
Parameters
Frequency regulation Kp, Ti, Td
Frequency synchronisation Kp, Ti, Td
Phase synchronisation Kp, Ti, Td
Power regulation Kp, Ti, Td
Power load sharing Kp, Ti, Td, P weight
AVR tuning parameters
For analogue-controlled AVRs, set these parameters under Configure > Parameters > Regulators > AVR: Analogue
output settings:
Heading Parameters
Voltage regulation Kp, Ti, Td
Reactive power regulation Kp, Ti, Td
Reactive power load sharing Kp, Ti, Td, Q weight
Suggested method for tuning PID regulators
The following trial-and-error method can be used to determine which PID values to use for your PID analogue output
parameters.
INFO
This method can be directly applied for Kp and Td values. When you tune the Ti value, the method has be adjusted
where a stable value is a high value, and an unstable value is a low value.
1. Start with the default value for the PID parameter.
2. Double the value of the PID parameter, and write the value to the controller.
3. Create a change in the system.
4. Check the control response of the system.
a. If the response is stable, then repeat steps 2 to 4 until the response is unstable.
b. If the response is unstable, then go to step 5.
5. Subtract half of the value added or removed during the previous step from the PID parameter.
• For example, if you added 20, then you need to subtract 10.
• For example, if you subtracted 7, then you need to subtract 3.5.
6. Create a change in the system.
PPU 300 Commissioning guidelines 4189341106 UK
www.deif.com Page 51 of 75
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