The following PID controllers can be optimized by using the excellent PID auto-tuning software BESTune (see http://bestune.50megs.com for details). Theoretically, BESTune is able to optimize any PID controllers, as long as the PID equations implemented in them are known. In order to include more PID controllers in BESTune, I am asking you to give me more information about other well-known brands of industrial PID controllers (brand names, PID equations implemented, units of the three PID constants, etc). Your help will be very much appreciated.
Danyang Liu
BESTune.Com
Email: bestune@netzero.net
WWW: http://bestune.50megs.com
Telephone: +1-780-424-5074
Allen
Bradley Logix5550 Independent PID
where
Kp: |
Proportional gain |
No unit |
Ki: |
Integral gain |
(1/second) |
Kd: |
Derivative gain |
(seconds) |
Allen
Bradley Logix5550 Dependent PID
where
Kc: |
Proportional gain |
No unit |
Ti: |
Reset time |
(min/rep) |
Td: |
Rate time |
(min) |
Allen
Bradley PLC5 Independent PID - Using Integer Blocks
where
Kp: |
Proportional gain |
(0.01) |
Ki: |
Integral gain |
(0.001/ second) |
Kd: |
Derivative gain |
(seconds) |
Allen
Bradley PLC5 Independent PID - Using PD Blocks
where
Kp: |
Proportional gain |
No unit |
Ki: |
Integral gain |
(1/ second) |
Kd: |
Derivative gain |
(seconds) |
Allen
Bradley PLC5 ISA PID - Using Integer Blocks
where
Kc: |
Proportional gain |
(0.01) |
Ti: |
Reset time |
(0.01min/rep) |
Td: |
Rate time |
(0.01min) |
Allen
Bradley PLC5 ISA PID - Using PD Blocks
where
Kc: |
Proportional gain |
No unit |
Ti: |
Reset time |
(min/rep) |
Td: |
Rate time |
(min) |
Allen
Bradley SLC5/02,SLC5/03 and SLC5/04 ISA PID
where
Kc: |
Proportional gain |
(0.1) |
Ti: |
Reset time |
(0.1min/rep) |
Td: |
Rate time |
(0.01min) |
Bailey
Function Code FC19 with K=1
where
K: |
Gain multiplier |
No unit |
Kp: |
Proportional gain |
No unit |
Ki: |
Integral reset |
1/min |
Kd: |
Derivative rate action |
Min |
Bailey
Function Code FC156 Independent Form with K=1
where
K: |
Gain multiplier |
No unit |
Kp: |
Proportional gain |
No unit |
Ki: |
Integral reset |
Resets/min |
Kd: |
Derivative rate action |
Min |
Concept
PID1 - PID Controller
where
Gain: |
Proportional gain |
No unit |
TI: |
Reset time |
(milliseconds) |
TD: |
Derivative Action time |
(milliseconds) |
Concept
PID1P - PID Controller with parallel structure
where
KP: |
Proportional gain |
No unit |
KI: |
Integral rate |
(1/milliseconds) |
KD: |
Differentiation rate |
(milliseconds) |
Fischer
& Porter DCU 3200 CON Ideal with KP = 1
If Kp = 1, the above equation reduces to:
where
KC: |
Gain constant |
No unit |
TR: |
Reset time |
(min/rep) |
TD: |
Derivative term |
(min) |
Fischer
& Porter DCU 3200 CON Parallel KP variable with KC=1
If KC=1, the above equation reduces to:
where
KP: |
Proportional gain |
No unit |
TR: |
Reset time |
(min/rep) |
TD: |
Derivative term |
(min) |
GE Fanuc Series 90-30 and 90-70 Independent Form PID
where
Kp: |
Proportional gain |
(0.01) |
Ki: |
Reset time |
(0.001rep/second) |
Kd: |
Derivative gain |
(0.01 seconds) |
Hartmann
& Braun Freelance 2000 PID
where
CP: |
Proportional correction value |
No unit |
TR: |
Reset time |
(milliseconds) |
TD: |
Rate time |
(milliseconds) |
Honeywell
TDC 3000 APM Non - Interactive PID
where
K: |
Gain |
No unit |
T1: |
Integral time constant |
(min/rep) |
T2: |
Derivative time constant |
(min) |
where
PB: |
Proportional band |
No unit |
K2: |
Integral mode gain constant |
(0.01min/rep) |
K3: |
Derivative mode gain constant |
(0.01min) |
Siemens
S7 PB41 CONT_C PID
where
Gain: |
Proportional gain |
No unit |
TI: |
Reset time |
(seconds) |
TD: |
Derivative time |
(seconds) |
where
PB: |
Proportional band |
No unit |
Ti: |
Integral time |
(seconds) |
Td: |
Derivative time |
(seconds) |