PID Control Kit

• The LabVIEW PID Control Toolkit includes VIs for

Proportional-Integral-Derivative (PID) and Fuzzy Logic
control.

• You can use these VIs with input/output (I/O) functions such
as data acquisition (DAQ) to implement control of physical
processes.
processes

• PID is a common single

g input/single
p g output
p control algorithm
g
for many types of control applications.

• F
Fuzzy llogic
i can be
b usedd to
t implement
i l t rule-based
l b d control
t l for
f
systems requiring control with multiple inputs.
 PID Control Kit Sub Palettes
• PID VIs: Use the PID VIs to implement PID control applications. The
first three VIs on the PID palette are different versions of the PID VI.
These VIs can be used interchangeably depending on the needs of the
application. The other VIs on the PID palette can be used with one of the
PID VIs for additional functionality.

• Fuzzy Logic VIs: Use the Fuzzy Logic VIs to implement fuzzy
controllers designed with the Fuzzy Logic Controller Design Project
Manager. Use the Load Fuzzy Controller VI and the Fuzzy Controller VI
together to implement a fuzzy control application
application. You can use the Test
Fuzzy Control VI as an example to test the input/output behavior of your
fuzzy controller.
 The PID Advanced VI
– Implements a PID controller using a PID algorithm with
advanced optional features.

– The PID algorithm includes the features of the algorithm the PID
VI uses, as well as manual mode control with bumpless manual-
to-automatic transitions, non-linear integral action, two degree-
of-freedom control,, and error-squared
q control.

– Use the DBL instance of this VI to implement a single control

loop.
loop

– Use the DBL Array instance to implement parallel multi-loop

control.
t l
 PID Advanced VIs
manual control specifies the value of the control output when auto? is FALSE.

auto? specifies whether to use automatic or manual control. When auto? is

TRUE this VI uses automatic control.
TRUE, control When auto? is FALSE
FALSE, this VI uses
manual control. This VI uses bumpless transfer from manual control to automatic
control. The default is TRUE.

output range specifies the range to which to coerce the control output. The
default range is –100 to 100.

output high specifies the maximum value of the controller output. The
default is 100.
output low specifies the minimum value of the controller output. The
default is –100.
 PID Advanced VIs
setpoint specifies the setpoint value, or desired value (final stable
value),
l ) off the
h process variable
i bl being
b i controlled.
ll d
process variable specifies the measured value of the process variable
being controlled
controlled. This value is equal to the feedback value of the
feedback control loop.
setpoint range specifies the maximum and minimum values for the
setpoint/process variable range. This VI uses the setpoint range to
calculate non-linear integral action. The default range is 0 to 100.
setpoint low specifies the minimum value of the setpoint/process
variable range.
setpoint high specifies the maximum value of the setpoint/process
variable range.
 PID Advanced VIs
PID gains specifies the proportional gain, integral time, and derivative
time parameters of the controller.
proportional gain (Kc) specifies the proportional gain of the controller.
The default is 1. In the equation
q that defines the PID controller,, KC
represents the proportional gain.
integral time (Ti, min) specifies the integral time in minutes. The default
i 0.01.
is 0 01
derivative time (Td, min) specifies the derivative time in minutes. The
d f lt is
default i 0.
0
dt (s) specifies the interval, in seconds, at which this VI is called. If dt (s)
is less than or equal to zero
zero, this VI uses an internal timer with a one
millisecond resolution. The default is –1. Use the dt of the simulation
loop.
 PID Advanced VIs
reinitialize? specifies whether to reinitialize the internal parameters, such
as the integrated error, of the controller. The default is FALSE.
beta specifies the relative emphasis of disturbance rejection to setpoint
tracking. The default value of 1 is appropriate for most applications.
Y can use a smaller
You ll value
l between
b 0 andd 1 to specify
if emphasis
h i on
disturbance rejection, such as process load changes.
linearity specifies the linearity of the error response
response. The valid range for
linearity is 0 to 1. A value of 1 provides a normal linear response,
while a value of 0.1 provides an approximately parabolic response.
output returns the control output of the PID algorithm that is applied to
the controlled process.
dt outt ((s)) returns
t the
th actual
t l time
ti interval
i t l in
i seconds.
d dt outt ((s)) returns
t
either the value of dt (s) or the computed interval if you set dt (s) to –1.
 PID Example
• Assume a process of Motor with a sensor for
p
speed measurement has the characteristics: A
gain of 0.5, time constant of 2 sec. The
measurement include noise
Open Loop Response (Unstable)

Noise Added
Adding Auto PID
Controller
2- Put Reasonable values

3- Just put the reference or

set p
point voltage
g and
1-Auto Run
 Adding Auto PID Controller Block
Diagram

Download VI

Download VI

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Scaling because Low pass Filter

The input controls PID Advanced VI To reduce Noise
of Ti & Td are in
Seconds while VI
inputs must
Be in minutes
Adding Manual
PID Controller Meaningless
Values

2- Put the setpoint

3- Play
y with uo till y
you g
got the
Setpoint on the output chart
uo is meaningless for Auto case
1-Manual uo
 Adding Manual PID Controller Block
Diagram

Download VI

uo is a control in
Manual case
T be
To b continued
i d