Pide Autotune
Pide Autotune
PIDE Autotuner
Doc ID PIDE-GR001A-EN-E
.....
Contacting Technical Support Telephone 440-646-7800
Rockwell Software Technical Support Fax 440-646-7801
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CONTENTS
..................................................
Introducing the PIDE Autotuner
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Whats New? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
New Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Enhanced PID (PIDE) Property Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
PIDE Block Addition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Terms and Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Getting Started
13
17
19
CONTENTS
.....
I. NTRODUCING
. . . . . . . . . . .THE
. . . .PIDE
. . . . .A.UTOTUNER
.............
The RSLogix 5000 PIDE Autotuner provides a simple, open-loop autotuner built into the PIDE
instruction used in the Function Block Diagramming language. Because PIDE Auto-tuning is built
into the controller, you can perform autotuning from PanelViews or any other operator interface
devices, as well as RSLogix 5000. The PIDE block has been designed to use a second tag whose
data structure is defined for the Autotuner. This allows the users to create tune tags only for the
loops (PIDE blocks) they wish to auto-tune. These tune tags can also be accessed by any device,
which will allow PanelViews, etc., to perform auto-tuning by setting and reading the appropriate
values in the Autotune data structure in the controller. The user can choose to share these tune tags
between different PIDE blocks to save memory if desired.
INSTALLATION
.........................................................
The PIDE Autotune feature is installed with the rest of the RSLogix 5000 software but must be
activated with an activation disk, which is purchased separately. If Autotune is not activated, some
of the Autotune-related fields and buttons on dialogs boxes will be visible but disabled.
In addition, if the PIDE Autotune feature is not activated:
You can run the Autotuner from an operator interface for any PIDE blocks that have already
been configured for autotuning, but you cannot configure additional PIDE blocks for
autotuning.
You cannot associate or change the association of an Autotune tag with a PIDE block
You can delete an association between the PIDE block and a tune tag. You can also undo this
operation.
You can import and export projects with tags of type PIDE_AUTOTUNE and PIDE blocks
with an associated tune tag.
You can drag-and-drop or paste programs or routines that contain PIDE blocks with associated
Autotune tags. A Cut/Copy/Paste and Drag/Drop operation is allowed for a PIDE block, but
the associated Autotune tag will not be copied.
REQUIREMENTS
.........................................................
The requirements for using the Autotuner feature are:
Whats New?
WHATS NEW?
.........................................................
There have been some changes and enhancements to the RSLogix 5000 software to support the
Autotune function. The following sections explain in more detail.
Whats New?
.....
message is displayed in the status bar informing you that you cannot do this operation because the
feature key is not present, and the previous tag name remains in this field.
Autotune tag
PIDE Block
Example:
PIDE_BLOCK (ID := 0;
X := 180,
Y := 20,
Operand := PIDE_01,
VisiblePins := "PV,)
AutotuneTag := <AutotuneTag>
END_PIDE_BLOCK
TERMS
.....
G
. .ETTING
. . . . . . S. TARTED
..........................
The user interface for the PIDE Autotuner consists mainly of the new Autotune tab that was added
to the PIDE Properties dialog box. The Autotune functionality, a simple, open-loop Autotuner, is
built right into the PIDE instruction.
The following sections describe the Autotune tab on the PIDE Properties dialog box and the
PIDE Autotune dialog box.
.........................................................
The Autotune tab allows you to configure and acquire the PIDE_AUTOTUNE tag for the
Autotune algorithm. The associated Autotune dialog box handles starting the Autotune algorithm,
monitoring outputs and loading the tuned gains. The other tabs in the PIDE Property dialog box
have not changed from the previous release of RSLogix 5000.
The following table describes the fields and buttons on the Autotune tab of the PIDE Properties
dialog box.
G E T T I N G ST A R T E D
......................................................
Feature
Description
Tag: Name
Tag Status
.....
G E T T IN G ST A R T E D
......................................................
Feature
Description
Process Type
Integrating
PV
Output
Non-integrating
PV Change Limit
CV Step Size
Execution State
Proportional
Integral
Derivative
Autotune button
G E T T I N G ST A R T E D
.........................................................
Once you have configured an Autotune tag, click the Autotune button to open the PIDE
Autotune dialog box. The PIDE Autotune dialog box allows you to Autotune and load the gains
for the acquired PIDE. If data from a previous Autotune is still valid then you can immediately
select and load the gains. When you click the Start button the Autotune algorithm will begin to
run. At any point during this operation you can abort the Autotune process by clicking the Abort
button. If the Autotune algorithm fails, the reason for the failure displays in the Autotune status
box. When the Autotune algorithm has completed successfully you can select which gains to load
into the PIDE block. The selection process is accomplished via the radio buttons next to the
different Response speeds. You can manually update any of the gains by selecting Current and
typing new values in the boxes. The boxes are only enabled when Current is selected. You can
now load these gains into the PIDE block by clicking the Set Gains in PIDE button.
The following table describes the fields and buttons on the PIDE Autotune dialog box.
.....
G E T T IN G ST A R T E D
......................................................
Feature
Description
Start button
Abort button
Sets the PIDE current gains with the selected tuned gains. The
tuned gains loaded are based on the currently selected gains.
This button is enabled when the PIDE.AtuneDone parameter is
TRUE. Sets PIDE.AtuneUseGains to TRUE.
G E T T I N G ST A R T E D
......................................................
Feature
Description
Current - Proportional
Current - Integral
Current - Derivative
Time Constant,
Deadtime and Gain
Execution State
Autotune Status
AUTOTUNE FAULTS
The following table defines the possible faults generated by Autotune:
.......................................................
Autotune Faults
Description
AtuneFault
PVOutOfLimit
ModeInv
The PIDE mode was not Manual at start of Autotuning or the PIDE
mode was changed from Manual during Autotuning. When True,
Autotuning is not started or is aborted.
CVWindupFault
StepSizeZero
CVLimitsFault
.....
G E T T IN G ST A R T E D
.......................................................
Autotune Faults
Description
CVInitFault
EUSpanChanged
CVChanged
AtuneTimedOut
PVNotSettled
TagReleased
TagInvalid
11
G E T T I N G ST A R T E D
.....
U
. .SING
. . . . THE
. . . .PIDE
. . . . .A. UTOTUNER
...................
Beginning with Release 10 of ControlLogix, Autotune is configured from RSLogix 5000; the
control algorithm resides in the Logix controller firmware. It provides a simple, open-loop
Autotuner built right into the PIDE instruction.
CONFIGURING
13
Browse button
4. View Block Properties for the PIDE tag by clicking the browse button (its the little blue
button with three dots on it; see the example shown in step 3). The PIDE Properties dialog
box opens.
5. Click the Acquire Tag button if the Autotune tag is not yet acquired. If another PIDE loop has
acquired the Autotune tag, you can click Release Tag to force the other loop to release the
Autotune tag and allow this loop to acquire it.
NOTE: If the other loop is in the middle of an autotune, the autotune will be aborted.
.....
15
11. Once the Autotuner has collected enough data, it will reset the CV to the original value and
display the calculated values.
12. Select type of process response that is required by your control Loop:
Fast
Medium
Slow
Process Response Types
13. Click Set Gains in PIDE and set your loop to Automatic mode and you are done. You have
tuned your loop in record time!
.....
PIDE
.....T
. .ECHNICAL
. . . . . . . .I.NFORMATION
...................
.........................................................
The following diagram shows the steps in the Autotune flow:
Begin
Is tag acquired
by this PIDE?
Yes
No
Is tag acquired
by another PIDE?
No
Is Autotune ready?
No
Yes
Yes
Request release
of tag
Yes
No
No
Is tag released?
Yes
Start Autotune
Exit
17
P I D E TE C H N I C A L I N F O R M A T I O N
.....
PIDE
.....A
. .UTOTUNER
. . . . . . . . .T.IPS
. . .AND
. . . .T.RICKS
..........
This chapter provides tips and tricks for using the PIDE Autotuner. Additional tips and tricks will
be added from time to time, so be sure to check the Rockwell Extranet at
http://www.software.rockwell.com/extranet/ for updated documentation every now and then.
WITH
SLOW
.........................................................
You may find the following items useful if you are using the Autotuner and have slow temperature
loops.
Make sure that the update time for your temperature loop is appropriate for your process. Most
temperature loops only need to execute once every second or two since the process response is
so slow. If you execute the PIDE instruction much faster than needed, the Autotuner may not
be able to store a sufficient amount of data samples to calculate an accurate set of gains. If you
have slow temperature loops, it is recommended that the PIDE instructions be executed in a
slow periodic task.
Temperature loops often require large derivative gains to obtain the best control. Because the
derivative term of a loop works on change in PV or change in error, loops with large derivative
gains are very sensitive to noise on the PV signal. If the PV for your loop is noisy, you should
use filtering on the analog input module or use a filter function block to filter the PV signal
before it is wired into the PIDE instruction. This will stop the noise signal from causing the
CV output to bounce in response to the noisy PV.
If the temperature loop takes a long time to rise to a new steady state value after a CV step
change, the PIDE Autotuner will try to tune the loop as an integrating loop in order to provide
a faster result, even though you chose Temperature as the process type. This will sometimes
give less than optimal results. If this is the case, try setting the process type to NonIntegrating and run the Autotuner again. This will force the Autotuner to wait for the PV to
begin to settle into a new steady state value and will sometimes give better results for this type
of loop.
If you are controlling a temperature loop with a pulsed output, and are typically using the
Split-Range Time-Proportioning (SRTP) block, make sure that the SRTP block or similar
output pulsing logic executes in a much faster task. For these types of loops, you should
generally execute the PIDE instructions in a slow (one or two second) periodic task, but the
SRTP instructions should execute every 10-50 milliseconds in a faster periodic task. This will
allow the pulsed output to have the resolution necessary to effectively control the heating or
cooling elements. You can use a controller-scoped tag to pass the CV output from the PIDE
instruction to the input of the SRTP instruction.
19
P I D E A U T O T U N E R T I P S A N D TR I C K S
INDEX
...........................................................
A
R
Acquire Tag 4
activation disk 1
Associate Tag 4
Release Tag 4
requirements 1
RSLogix 5000
whats new in 2
S
data types
PIDE_AUTOTUNE 2
T
Enhanced PID Property (modal) dialog box 2
technical information 17
terms and acronyms 4
tips and tricks 19
F
FBD 4
U
using the PIDE Autotuner 13
I
Import/Export format update 3
installation 1
P
PIDE Autotuner 1
activation disk 1
installing 1
tips and tricks 19
using 13
using with slow temperature loops 19
PIDE block 2
sample block glyph 17
PIDE Property dialog box 2
PIDE user tag acquisition flow diagram 17
PIDE_AUTOTUNE 2
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