APPLICATION

GUIDELINE #9
PIDDeadbandImplementation
Abstract APIDdeadbandfunctioncanbeusefulinprocesscontrolstoimprovetuningcharacteristicsandeliminate unnecessaryoutputadjustmentswhentheprocessisnearsetpoint.Unfortunately,digitalimplementationofaPID deadbandcanleadtoerraticanddestabilizingresults.Itisthereforenecessarytounderstandthebehaviorofthis featureandthetypeofproblemsthatcanresultfromitsuse.Thepurposeofthisdocumentistoexplainthe deadbandfeatureembeddedinaPIDcontrollerandtodiscussimportantconsiderationsinitsimplementation.

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TAI#9:PIDDeadbandImplementation
R.2.3 Printing: 08/06/2012 Control strategies depicted in this document are public domain. However, all explanations and text are considered proprietary to TEG Energy Group, Inc. and may not be distributed without the written consent of TEG Energy Group, Inc.

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Whentheerrorvaluebetweentheprocessvariableandthesetpointislocatedoutsideofthedeadbandregion, thePIDgainsareappliedtotherawerrorsignal.Whentheerrorislocatedwithinthedeadbandregion,a deadbandgainisappliedtotheerrorbeforethePIDgainsareapplied.Thedeadbanderrorgaincanbeadjustedto rangefrom0to1,effectivelyreducingtheerrorvaluetothePIDcontroller.Itshouldbenotedthatthederivative componentofPIDcontrolisdisabledwhileoperatingwithinthedeadband.

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AdeadbandisdefinedasaregionaroundthesetpointwheretheerrorismodifiedbeforePIDgainsareapplied. ThedeadbandfeatureinaPIDcontrollerreducestheerrorvaluebetweentheprocessvariable(PV)andthe setpoint(SP)whenitislocatedwithinthedeadbandregion.Thisfeatureintroducesthepossibilityofmultiple tuningstrategiesamoreaggressiveapproachwhentheerrorbetweenthesetpointandtheprocessvariableis large,andalessaggressiveapproachwhentheerrorissmall.Oneofthemajorbenefitsofthedeadbandfeatureis topreventthefinaldriveelementfromhuntingaroundthesetpointbyforcingasteadystateoutputwhenthe processiswithinthedeadband.

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DeadbandGeneralDescription

APPLICATION GUIDELINE #9
PIDDeadbandImplementation
Iftheerrorisinthedeadband, ErrortoPIDcontroller=rawerrorxdeadbanderrorgain
PV
P Raw Error Deadband gain Adjusted Error

0<DBgain<1

Else, ErrortoPIDcontroller=rawerror
PV
Raw Error

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TAI#9:PIDDeadbandImplementation
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APPLICATION GUIDELINE #9
PIDDeadbandImplementation
Example Figure1showsanexampleofadeadbandapplicationwiththefollowingparameters Deadbandlimits=-10%and10% DeadbandErrorGain=0

100 90 80 70 60 50 40 30 20 10 0

Blueregion:Outside of deadband Error=60- 40=20%

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Outofdeadband, normaloutput response Enters deadband, outputholds

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Process Variable Deadband Limit SetPoint Output

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Output resumes reactingto changes

Reenters deadband, outputholds

Leavesdeadband, outputdecreases to reacttoincreased error

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Redregion: Insideof deadband Actualerror=60- 55=5% Effectiveerror=5 x0=0%

Whenevertheprocessvariableislocatedoutsidethedeadband(blue)thePIDcontrollerbehavesnormally. However,whenitislocatedwithinthedeadband(red),thedeadbanderrorgainisappliedtotheactualerror.In thisexample,thedeadbandgainissetatzero,whicheffectivelyeliminatestheerrorwhilethePViswithinthe deadbandregion.Intheplot,thePVbeginsoutsideofthedeadbandandthePIDcontrollerreactsnormally accordingtoitstuningparametersofproportionalgain,integraltime,andderivativerate.WhenthePVentersthe deadband,theerrorbetweenthePVandtheSPismultipliedbythedeadbandgainofzero.Thiscausestheoutput toremainconstantwhilethePVislocatedinthedeadband.OncethePVleavesthedeadband,thePIDcontroller resumesnormalresponsetotherawerror.

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Figure1

TAI#9:PIDDeadbandImplementation
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NormalDeadbandAction

APPLICATION GUIDELINE #9
PIDDeadbandImplementation
DeadbandTransitions Whentheprocessvariableentersorexitsthedeadband,severalchangesinthePIDcontrollermustoccur.Before enteringthedeadband,theoutputofthePIDcontrolleriscomposedofproportional,integral,andderivative components(Figure2a).Thetransitionintothedeadbandregionwillcausetheerrorperceivedbythecontrollerto beconsiderablyreducedsincetheactualerrorisnowbeingmultipliedbythedeadbandgain,whichinthis exampleiszero.Suchareductionintheeffectiveerrorvaluewillcauseanabrupt,immediatereductioninthe proportionalresponseofthePIDcontroller(Figure2b).Inordertocompensateforthisabruptchange,andto smoothtransitions,thePIDcontrollerdoesnotoutputtheresponseofFigure2b,butinsteadperformsaholdand trackoperation.Duringthistransitioncycle,theoutputofthePIDcontrollerisheldatitspreviousvalue.The integraltermisthenrecalculatedtoreflectthetotaloutputofthePIDcontroller(Figure2c).Afterthistransition cycle,thePIDcontrollercontinuestoactnormallyaccordingtotheeffectiveerror,whichisnowmodifiedbythe deadbandgain.Sincethisoperationisperformedbyadigitalprocessor,thePIDcontrollerrequirestwoscancycles tocorrectlyperformtheholdandtrackstepsdisplayedbelow.1Largeprocessjumpsandrapidtransitionsintoand outofthedeadbandcancauseproblemswiththisprocedure.Theseproblemswillbediscussedinthesectionsto follow.

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(b)Entersdeadband,deadbandgain appliedtoerror,lossofproportional contributiontooutput

(c)Integralresetsto compensate

ConsiderationsProcessVariableJump TransitionsintooroutofthedeadbandputthePIDcontrollerinaspecialholdandtrackstatewhiletheintegral termisrecalculated.OnesideeffectofthistransitionstateisthatthefirstPVmoveoutofthedeadbanddoesnot provokeaproportionaloutputresponse,aswouldnormallyoccur.Uponatransitionoutofthedeadband,thePID controllermaintainsitsoutputatthepreviousvalue.Bykeepingtheoutputconstantduringthetransitioncycle, thePIDcontrollereffectivelyignorestheproportionalchangeofthisfirststepandonlyreactstothesubsequent proportionalchangesintheerror.Normally,whenprocessvariablemovementisrelativelysmooth,asmall

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Formoreinformationonscancyclesandconsiderationswhenusingdigitalcircuits,seeApplicationGuideline#8.
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TAI#9:PIDDeadbandImplementation
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APPLICATION GUIDELINE #9
PIDDeadbandImplementation
transitionoutofthedeadbanddoesnotwarrantasignificantproportionalresponse;however,withalargejumpin thePV,thelackofaproportionalresponsetothatinitialjumpleadstoanundesiredlagintheresponseofthePID controlleroutput.Figure3ashowstheeffectswithadeadbandimplemented,whileFigure3bdoesnothavea deadband.Withthedeadband,theprocessvariable(red)initiallyresideswithinthedeadbandandtheoutput (green)remainsconstant.Whentheprocessvariablejumpsto70%,theoutputstaysatitspreviousvaluewhilethe integraltermisreset.Fromthereon,theoutputgraduallydecreases,mostlyduetotheintegralresponseofthe PIDcontroller.ThelackofproportionalresponsetothePVjumpsignificantlydelaysthereactionoftheoutput comparedtotheresultwithoutadeadband.
80 70 60 50 40 30 20 10 0 80 70 60 50 40 30 20 10

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(a)Reverse-actingPIDcontrollerwithdeadband

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(b)Reverse-actingPIDcontrollerwithoutdeadband

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TAI#9:PIDDeadbandImplementation
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APPLICATION GUIDELINE #9
PIDDeadbandImplementation

DeadbandwithNoise
60 50 SetPoint Percent(%) 40

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scan rate 2 noise frequency

Iftheprocessvariableisclosetothedeadbandlimit,ajumpinthePVduetoanoisysignalcancausemultiple transitionsintoandoutofthedeadbandinashorttimeperiod.Figure4showsanexampleofthissituation.The processvariablestartsnear40%andentersthedeadbandregionasitapproachessetpoint.Noisethencausesthe processvariabletoexitandreenterthedeadbandmultipletimesuntilitfinallyremainsinthedeadbandforgood. Duringtheserapidsuccessivetransitionsintoandoutofthedeadband,theoutputperformsthreelarge, destabilizingupwardjumps. Thisnoise-inducedproblemcomesfromtherelationshipbetweenscanrateofthePIDcontrollerandnoise frequency.Withlittlenoise,thescanrateisusuallyfastenoughtocompletetheholdandtrackcalculationbefore thePVcrossesthedeadbandlimitagain.However,withhigh-frequencynoise,itbecomespossibleforthePVto enterthedeadbandduringonescancycle,andjumpoutthenext.Theprocessvariableisthereforenotableto establishitselfinthedeadbandzone,whichinterfereswiththeholdandtrackoperation.TheinabilityofthePID controllertocompletethisoperationbythesecondcrossingofthedeadbandlimitleadstoanundesiredoutput jump.Toavoidthisjump,thefollowingconditionmustbemet

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Figure5meetsthiscondition.ThePVbeginsinthedeadbandregion,andthenexits.SincethePVstaysoutsideof thedeadbandfortwoscancyclesbeforereentering,theoutputdoesnotjumpasitdidinFigure4.Thetrackand holdfunctionisgivenenoughtimetoexecute,anditperformsaseamlesstransition.

TAI#9:PIDDeadbandImplementation
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TheNoiseProblem

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Figure4:Reverse-actingPIDcontroller

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Process Variable Output Deadband Limit

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APPLICATION GUIDELINE #9
PIDDeadbandImplementation

SmoothDeadbandTransition
70 60 50 Percent(%) 40 30 20 10 SetPoint Process Variable Output

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Deadband Limit

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Figure6illustrateshowtheholdandtrackoperationperformedduringtransitionsintoandoutofthedeadband cancauselargeoutputjumps.Inthefirstscancycle(Figure6a)theprocessvariableislocatedoutsidethe deadbandandthePIDcontrolleroperatesnormally.Whentheprocessvariablefirstentersthedeadband(Figure 6b)thePIDcontrollerreactsbymaintainingtheoutputandresettingtheintegralportiontocompensateforthe lossofproportionalcontribution.Afterthat(Figure6c),theprocessvariableleavesthedeadband.SincethePV wasnotfullyestablishedwithinthedeadband,thePIDcontrollerfailstore-performtheholdandtrackoperation asithaddoneinthepreviousstep.Instead,itactsnormallyonthenewerror,whichismuchlargerthanthezero errorithadwhileinthedeadband.Thissuddenproportionalincreaseisaddedtotheoutput,causingasignificant jump.

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(c)

Figure6
TAI#9:PIDDeadbandImplementation
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APPLICATION GUIDELINE #9
PIDDeadbandImplementation
Observableresults TheeffectsofthepreviouslydescribedovercompensationareillustratedinFigure7.Thefourpossiblescenarios andtheircorrespondingoutputreactionsaredepicted.Theprocessvariableisinred,theoutputingreen,andthe deadbandisthedashedblackline.Asshown,theoutputissteadyduringthefirstPVjumpintooroutofthe deadband.TheproblemoftheoutputjumpoccurswhenthePVreturnstoitsoriginalregionatthenextscancycle. ThisoutputjumpdependsonthedirectionofthePVchange.Thegraphsintheleftcolumnshowupwardspikesin thePV,causingtheoutputtoincrease.ThegraphsintherightcolumnshowdownwardspikesinthePV,causing theoutputtodecrease.

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TAI#9:PIDDeadbandImplementation
R.2.3 Printing: 08/06/2012 Control strategies depicted in this document are public domain. However, all explanations and text are considered proprietary to TEG Energy Group, Inc. and may not be distributed without the written consent of TEG Energy Group, Inc.

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APPLICATION GUIDELINE #9
PIDDeadbandImplementation VariousProcessVariableJumpsandOutputResponses

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AfastPIDcontrollerscanratecausesoutputjumpstocompoundupononeanotherasaresultofhighfrequency noise.Figure4isanexampleofthisphenomenon,andispresentedagainbelowinFigure8.ThePIDcontrollerthat isusedhasthefollowingtuningparameters Deadbandlimitsat-5%and5% Deadbanderrorgain=0 Proportionalgain=1

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TAI#9:PIDDeadbandImplementation
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APPLICATION GUIDELINE #9
PIDDeadbandImplementation

MultiplePVjumps
60 50 SetPoint Percent(%) 40 Process Variable Output

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Figure8

Deadband Limit

Inthisexample,theprocessvariableapproachessetpoint,butnoisecausesittoenterandexitthedeadband regionseveraltimesbeforesettling.EachtimethePVexitsthedeadband,theoutputjumps.Thisoutputjumpis proportionaltothedifferencebetweentheerrorvaluewithinthedeadbandandtheerrorvalueoutsideofthe deadband.ItisalsorelatedtotheproportionalgainofthePIDcontroller.Sincethedeadbandgainiszerointhis example,theerrorinthedeadbandisalsozero.Uponthefirstjumpbackoutofthedeadband,thePVobtainsthe valueof43%,anerrorof7%thatcausesanoutputjumpof7%duetotheproportionalgainof1.Ifthe proportionalgainwere2instead,theoutputjumpwouldbe72=14%. Withthisknowledge,itispossibletomakeseveralgeneralizationsaboutthebehavioroftheseoutputjumps.As previouslystated,themagnitudeoftheoutputjumpisdirectlyrelatedtotheproportionalgain.Thesizeofthe deadbandlimitalsoaffectsthesizeofoutputjumps.Alargedeadbandlimitwouldresultinalargedifference betweentheerrorinsideandtheerroroutsidethedeadband,whichwouldcauselargeoutputjumps.Inaddition, thedeadbandgainalsohasaneffect.Ifthegainiscloserto1,theoutputjumpislessprominentsincethechange inerrorupontransitionsissmaller.

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Toavoidthesepotentialoutputjumpsassociatedwithscantime,itisnecessarytohavetheprocessvariablehold itsvalueupontransitionsintoandoutofthedeadbandzone.ThisestablishesthePVeitherinsideoroutsidethe deadbandovertwosuccessivescancycles,allowingtimefortheholdandtrackoperationofthePIDcontrollerto execute.

Atransportdelayoftwoscancyclescanbeusedtotemporarilyholdtheprocessvariable.Adigitalcircuitthat detectswhenthePVcrossesthedeadbandlimitcanalsobeimplementedsothatthetransportdelayonthePVis onlyactivatedduringtransitionsintoandoutofthedeadbandregion.ThesolutiondepictedinFigure9ensures twosuccessivescancyclesupontransitionacrossthedeadbandwithoutunnecessarilydelayingthePVsignal.

TAI#9:PIDDeadbandImplementation

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APPLICATION GUIDELINE #9
PIDDeadbandImplementation

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Transport Delay
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FinalDrive Element
Figure9:Transportdelaylogiccircuit
TAI#9:PIDDeadbandImplementation

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APPLICATION GUIDELINE #9
PIDDeadbandImplementation
Conclusion Duetopossiblenoise-inducedoutputjumpscausedbytransitionsintoandoutofthedeadbandregion,caution shouldbetakenwhenusingthedeadbandfunction.ThedeadbandinaPIDcontrollerworkswellwhentheprocess variablesignalisclean,butcancauseundesiredoutputjumpswhenthesignalisnoisyanderratic.Usinga smoothingalgorithmoralagfunctioncanreducenoise,butwillintroduceundesireddelaysintheprocesswithout ensuringprotectionfromerraticjumps.Thelogicstrategyproposedinthisdocumentisapossiblesolutionto preventdestabilizingoutputjumpsfromthedeadbandimplementation.Withthisstrategy,thedeadbandcanbea verypowerfultooltoreduceoreliminatevalveadjustmentswhentheprocessvariableisclosetosetpoint.

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APPLICATION GUIDELINE #9
PIDDeadbandImplementation
Appendix Figure10depictstheentirelogiccircuitforadeadbandsimulation.
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Deadband Limit

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TAI#9:PIDDeadbandImplementation

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Transport Delay
2Scan Cycles

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