8.2.2. Auto-tuning and „Gain Scheduling”
In case, when “Gain Scheduling” is used, one can carry out
the auto-tuning in two ways.
The fi rst way consist on choosing a suitable set of PID para-
meters, in which calculated PID parameters will be stored and realizing
the auto-tuning on the level of the currently chosen set point value for
the fi xed set point control. One must set the Gty parameter on SEt, and
choose Gset between pid1 and pid4.
The second way enables the automatic realization of the
auto-tuning for all PID sets. One must set the Gty parameter on sp,
and choose the number of PID sets for setting – parameter Gsnb.
Set point values for individual PID sets must be give in sp, sp2, sp3,
sp4 parameters, from the lowest to the highest.
8.2.3. Proceeding Way in Case of a Dissatisfying
PID Control
The best way to select PID parameters is to change
the value into a twice higher or into a twice lower. During changes,
one must respect following principles:
a) Oscillations:
- increase the proportional band,
- increase the integration time,
- decrease the differentiation time.
b) Over-regulations:
- increase the proportional band,
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