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PID Controller in HVAC Systems

The document summarizes the PID (proportional-integral-derivative) controller, which is commonly used in HVAC systems. It explains that a PID controller calculates its output based on the measured error and three gains (proportional, integral, derivative) to attain the set point regardless of disturbances. Only the proportional and integral parts are used for most HVAC systems. Tuning the gains involves trial and error or Ziegler-Nichols methods to minimize rise time and overshoot while reducing steady state error.

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Abhishek Verma
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170 views2 pages

PID Controller in HVAC Systems

The document summarizes the PID (proportional-integral-derivative) controller, which is commonly used in HVAC systems. It explains that a PID controller calculates its output based on the measured error and three gains (proportional, integral, derivative) to attain the set point regardless of disturbances. Only the proportional and integral parts are used for most HVAC systems. Tuning the gains involves trial and error or Ziegler-Nichols methods to minimize rise time and overshoot while reducing steady state error.

Uploaded by

Abhishek Verma
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

9/10/2015

pid

PIDcontroller
The most common controller used in the HVAC industry is the proportional, integral, Derivative PID
[Link],Proportional,Integral,DerivativePIDcontrollerisafeedbackcontrollerthathelpsto
[Link]
calculates its output based on the measured error and the three controller gains proportional gain Kp,
integralgainKi,[Link].
[Link]
sum of the recent errors. The integral term helps in getting rid of the steady state error and causes the
[Link]
of which the error has been changing. In most of the HVAC systems, it is not necessary to use the
derivativepartofthePID,henceinthisproject,[Link]
outputofthecontroller(U)iscalculatedusingthefollowingequation:

ThesignalvalueUissentcontinuouslytothedrivingcircuitwitheverycorrespondingnewoutputbegin
measured as the process continues. Table () summarizes the pros and cons of each term of the PID
controller.

Controller
P

Pros
EasytoImplement

Cons
Longsettlingtime
Steadystateerror

PD

Easytostabilize
FasterresponsethanjustPcontroller

Canamplifyhighfrequency
noise

PI

Nosteadystateerror

Narrowerrangeofstability

Table(1):summaryoftheaffectofchangingPIDfunctions

SaturationandAntiwindup
The wind up action happens when the output of the controller reaches saturation (255 for 8bit PWM).
Duetotheerrorisstillpositive,theintegralpartcontinuestoincreasecausingmoreinputsappliedtothe
[Link].
This windup action is avoided by restricting the output signal of the controller (U) to be within the
[Link],wehaverestrictedtheoutputsignalbetween0to255(8bitPWM
signal).

PIDControllerTuningParameters
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9/10/2015

pid

ThereareacoupleofstrategiesonhowPIDcanbetunedthisincludestrialanderrortuningmethod,
[Link]
that the final output signal (U) applied to the actuating circuit was divided by the number of shifts
[Link].Westartedby7
shiftstotherightmeaningwedividedtheoutputsignalby2^[Link]
way through either increasing division factor by 128 or reducing it by 128. We started by making an
initialguessofthevalueoftheKpgainwhereKi=Kd=[Link],we
hadafasterrisetime,[Link],anadditionalKiwas
[Link]
the desired temperature and the actual temperature. The following table gave us a rough idea of how
changingeachPIDparametercouldchangeoursystemresponse.

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