201761 CompreenderocontroledetemperaturaPID

ControlePIDfacilitado

IntroduoaosprincipaistermosassociadosaocontroledetemperaturaPID

ControleON/OFF

OcontroleOn/Offomeiodecontrolemaissimples,masdorigemaflutuaesnavarivelde
processo(Fig.1).UmgraudehistereseoudeadbanddeveserconfiguradonocontroleOn/Offse

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ofuncionamentododispositivodecomutaoforreduzidoeaconversaodorelsejaevitada
(Fig.2).

OcontroleOn/Offumaformadecontrolemuitosimples,quelevaoscilaodavarivelde
processo.Essaoscilaopodeafetaraqualidadedoprodutofinaleindesejvel.Aalternativa
usarocontroledetrstermos,conhecidocomocontrolePID.

Controledetrsperodos

Um"circuitofechado"consisteem:

UmprocessonaplantaasercontroladaG(s)
Umsensorparadetectarovalordoprocesso(PV),comoumtermoparousensordepresso.
Umcontroladorparafornecerocontroledesseprocesso,referidonasobrecargacomoo
termoPID.
Umasadaparaumatuadoroudispositivoparacontrolaroestmulodeentradaparaesseprocesso,comoocalor.

ParaentenderostermosPID,acomparaocomaconduodeumcarropodeserusada

Ocontrolesimplesdeligar/desligarpodeserconsideradocomooarranquedomotor(G(s))docarro(Planta),pressionandooacelerador
(Sada)nochoatatingiravelocidadedesejada(SP)de80km/hconformeindicadoemOvelocmetro(PV),depoistireopcompletamente
doacelerador.Quandoavelocidadecaiabaixode80km/h,oaceleradornovamentepressionadoparaochoatalcanar80km/h.

ComparaoaoTermoProporcional

Sedesejamosconduzirdeumaparalisaoa80km/h,podemosconsideraroprocedimentoqueadotamosparaconseguirissoparaexplicaro
termoproporcional.

Deumaparada,pressionamosopedaldoacelerador.Avelocidadedoveculoaumentareaumacertavelocidadeabaixodanossavelocidade
alvode80km/h,comeamosaaliviaropedaldoaceleradorparaevitarcruzeirosapsavelocidadedesejada.Essaflexibilizaodopedaldo
aceleradorpodesercomparadadiretamenteaoingressonabandaproporcionalounabandaemrelaovelocidadedesejada.Seno
olharmosparaovelocmetro,certamentedirecionaremosaumavelocidadequenoanossavelocidadedesejadaeumerroresultar.

ComparaoaoTermoIntegral

Seolharmosagoraparaovelocmetro,vemosqueestamoscompoucavelocidadeeusandoessefeedbackvisualcorrigimosoerroe
comeamosabaixarlentamenteopedaldoacelerador.Comoresultado,nossavelocidadeaumentalentamenteparaalcanaravelocidade
desejadade80km/h.

EsteprocedimentopodesercomparadoaoTempoIntegraldeumcontroladorPID.

ComparaoaoTermodeDerivao

AgoraestamoscruzandoemnossoSetpointde80km/hecontinuamosamanteressavelocidadeatravsdofeedbackvisualdovelocmetro.
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201761 CompreenderocontroledetemperaturaPID
AgoraestamoscruzandoemnossoSetpointde80km/hecontinuamosamanteressavelocidadeatravsdofeedbackvisualdovelocmetro.

Seencontrarmosumamudanarepentinanainclinaodaestrada,comoumacolina,corrigimosareduodevelocidadequeresultariaao
pressionaropedaldoaceleradormaisdoqueseriaocasodaligeirareduodevelocidadequeinicialmenteencontramos.medidaquea
inclinaodaestradaseafastadenovo,aliviamosopedaldoaceleradormaisdoqueseriaocasodoligeiroaumentodevelocidadeparaevitar
elevarnossavelocidademuitoalmdanossavelocidadealvo.

AquantidadedecorreoeotempoparareduziressacorreoparazeropodemsercomparadosaoTempoDerivado.

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Quandoconduzimosumcarroporalgumtempo,essesprocedimentossetornamumasegundanaturezaparansenopensamosnatcnica
queusamosparadirigir.Considere,noentanto,oprocessodealgumqueaprendeadirigirevocobservaressasdescriesemao.

Differentprocessvariablessuchastemperature,speed,pressureetc.allhavedifferentcharacteristics.Forexampleatemperatureonan
extruderbarrelrespondsveryslowlywhereasthespeedrespondsmuchmorequicklyandthepressurecanrespondmorequicklystill.

TheinformationgivenabovemaymakeitappeareasytogenerateaPIDcontrollerusingsimple
mathematicalterms.Inreality,industrialcontrolmanufacturersdevelopsophisticatedcontrol
algorithms,containingmanyotherfeaturesthanthosedescribedabove.Inthiswaytheyareable
toprovidetheindustrywithcontrollerswhichgiveexcellentperformanceinawiderangeofcontrol
applications.

AdditionaltechniquesarealsoincludedtopreventtheIntegraltermfromsaturatingduringopen
loopconditionsandtopreventovershootoftheSetpointvalue.Thetwoconditionsofstartuporchangedsetpointandnormalrunningconditions
generallyrequiredifferentresponses.Advancedcontrolalgorithmsaredevelopedbycontrolcompaniestocompensateforbothconditions.

LoopResponse
Thecombinationofthethreetermscanprovideastabilizingeffectonaprocessonlyifthetermsarecorrectlyset.Thisisreferredtoas'tuning
theloop'.Ifweignorethesituationoflooposcillation,therearethreecategoriesofloopperformance:

UnderDamped

InthissituationthetermsaresettopreventoscillationbutdoleadtoanovershootoftheProcessValuefollowedbydecayingoscillationtofinally
settleattheSetpoint.ThistypeofresponsedoesgiveaminimumtimetoSetpointbutovershootmaycauseproblemsincertainsituationsandthe
loopmaybesensitivetosuddenchangesinProcessValue.Thiswillresultinfurtherdecayingoscillationsbeforesettlingonceagain.

CriticallyDamped

Thisrepresentsandidealsituationwhereovershootdoesnotoccurandtheprocessrespondstochangesinacontrolled,nonoscillatorymanner.

OverDamped

Inthissituationthelooprespondsinacontrolledbutsluggishmannerwhichwillresultinaloopperformancewhichisnonidealandunnecessarily
slow.ThebalancingoftheP,IandDtermsdependstotallyuponthenatureoftheprocesstobecontrolled.

Inaplasticsextrusionexample,abarrelzonewillhaveadifferentresponsetoacastingroll,driveloop,thicknesscontrollooporpressureloop.In
ordertoachievethebestperformancefromanextrusionlinealllooptuningparametersmustbesettotheiroptimumvalues.Needlesstosay,
manyextrusionlinesandindustrialequipmentarenotsetuptogivetheirbestperformance.

LoopTuning
Therearemanydocumentedmethodsoftuningaloopwiththemostcommonmethodsbeingthe
following:

ZieglerNicholls:Thismethodinvolvesputtingtheloopintooscillationandmeasuringthe
oscillationperiodT.TheoscillationiscausedbysettingtheIandDtermstooffandreducingthe
ProportionalBanduntiltheloopjustoscillates.ThesettingofthePtermattheonsetofoscillation
(Px)isusedtodeterminethedesiredProportionalBand.

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201761 CompreenderocontroledetemperaturaPID
Cohen&Coon:InthismethodpowerisappliedfromalowProcessValueandanoteismadeofthetimebeforeanyresponseisobserved(
deadtime)andthemaximumrateofchangeoftheProcessValue.BycombiningthisinformationwiththefinalsettlingoftheProcessValue
resultingfromthepowerapplied,theP,IandDvaluesarecalculated.

PopularMethod(RuleofThumb)

AneasiermethodofmanuallydeterminingtheP,IandDvaluesistosettheIntegralandDerivativetermstooffandtosettheProportionalBand
toaminimum.TheresultingoscillationwidthXoscandtheoscillationperiodtosccanbeusedtodeterminethePIDsettingsshownbelow.

P=2.0*Xosc
I=1.5*tosc
D=I/5

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Thesevaluesresultinaslightlyoverdampedresponseandconsequentlyallvaluescanbereducedslightlytogiveamoreresponsiveloop.

AutoTuning:(StandardwithallEurothermPIDControllers)

Thestandardinitialmethodoftuningaprocessloopistousetheadvancedadaptivetuning
algorithmsinbuiltintodayscontrollers,toautomaticallytesttheloopandimplementtheoptimum
PIDcontrolparameters.

CareshouldbetakentoensurethattheoscillationsoftheProcessValuewillnotdamagethe
processbeingtuned.ItisrecommendedtosettheSetpointfortuningpurposesbelowthenormal
runningSetpointvalue.

AvoidingOvershoot

Varioustechniquesareusedtoavoidovershoot.Theaimistopreventtheprocessvaluefrom
exceedingthedesiredvalueorsetpoint.Intheexampleshowntheproportionalbandisbroughtdowntomeettheapproachingprocessvaluein
ordertoreducetheoutputpowerandtosmoothlybringtheprocessvaluetothedesiredsetting.

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