PID Error Input
Function Code 18
PID This function provides proportional, integral and derivative
(1 8 )
S1 actions on an error signal developed from the process variable
S2 N
S3
TR (PV) and set point (SP) inputs. The block has three inputs and
TS
one output. Besides the error input, there are track reference
and track switch input signals. If the track switch <S4> is a
zero, the output follows the track reference signal <S3>. This
provides for smooth control transfers from manual to auto-
matic mode. The parameters for this function block include an
overall gain constant (S5), a proportional constant (S6), an
integral constant (S7) and a derivative gain constant (S8).
Outputs
Blk Type Description
N R Output is PID signal in engineering units (EU)
Specifications
Spec Tune Default Type Range Description
S1 N 5 I Note 1 Block address of error signal
S2 N 1 I 0 or 1 Reserved
S3 N 5 I Note 1 Block address of track reference signal
S4 N 1 I Note 1 Block address of track switch signal:
0 = track
1 = release
S5 Y 1.000 R Full (K) gain multiplier
S6 Y 1.000 R Full (KP) proportional constant
S7 Y 0.000 R 0 - 9.2 E18 (KI) integral constant (1/min)
S8 Y 0.000 R Full (KD) derivative constant (min)
S9 Y 105.000 R Full High output limit
S10 Y -5.000 R Full Low output limit
NOTES:
1. Maximum values are: 9,998 for the BRC-100, IMMFP11/12
31,998 for the HAC
WBPEEUI210504C0 18 - 1
Explanation
This function operates on the input error signal according to
the equation:
Output (%) = S5 × [<S1> × (S6 +S7I +S8D)]
where:
I = dt
d
D = ----
-
dt
The purpose of the gain multiplier (S5) is to convert or scale
the output. Typically it is used to convert the output to percent
for input to a station or output to a field device. Figure 18-1
shows an example.
M/A
MFC/P
S1 (80)
PV SP TO OUTPUT
PID S2 226
S1 PID SP O FEEDWATER
XMTTR (18) (19) 225
Σ(K)
(15) S1 S2 S3
S2 SP A A
205 S3 210 S1 220 S4 227
TR PV TR C/R
S4 S3 S5 228
TS TR TS C
S3 = -1 S4 S18 229
TS MI C-F
A S4 = +1 S19 230
AX
S20
C/R
S21
LX
S22
STEAM 0-2000 psi CX
FLOW S24
HAA
S25
LAA
S26
Had
S27
LDA
S28
AO
S29
TRS2
S30 T
TRPV
T01620A
Figure 18-1. Scaling the Output
To calculate S5 in engineering units, use the equation:
DESIRED span -
S5 = --------------------------------------------
CURRENT span
18 - 2 WBPEEUI210504C0
Applications
To calculate S5 in percent, use the equation:
DESIRED max. – DESIRED min.-
S5 = --------------------------------------------------------------------------------------
S1 max. – S1 min.
or
100 – 0
S5 = -----------------------------------------------
-
S1 max. – S1 min.
If the signal range is zero to 100 percent, the possible range of
the error signal is -100 to +100 percent. Use the following
equation to determine the gain multiplier S5:
100 -
S5 = ------------------------
〈 S1 span 〉
For example, if the range of an error signal is zero to 50 cubic
feet per second, then determine S5 as follows:
100 - = 2
S5 = --------------
50 – 0
NOTE: When a negative output is anticipated, the low limit (S10) must be
adjusted in a negative direction to encompass the limits of the output signal
range.
Applications
Figure 18-2 illustrates a PID error input block used to cali-
brate a demand value with an error value. By using function
code 18 versus function code 19, the error input to S1 can be
reported to a console.
WBPEEUI210504C0 18 - 3
Applications
ERROR TO DISPLAY,
OTHER LOGIC, ETC. M/A
MFC/P
S1 (80)
PV SP TO OUTPUT
S2 216
S1 PID SP O
(15) (18) 215
S2 Σ (K) 208
S1
S3 210
S3
S4
A A
217
TR TR C/R
S4 S5 218
TS TS C
S3 = -1 S18 219
MI C-F
S4 = 1 S2 = 0 S19 220
AX
PV S20
S5 = DESIRED SPAN C/R
CURRENT SPAN S21
LX
S6 = 0.75 S22
CX
S7 = 0.8 S24
S8 = 0.0 HAA
S25
S9 =105.0 LAA
S10 = -5 S26
HAD
S11 =0 S27
S12 =0 LDA
S28
AO
S29
TRS2
S30 T
TRPV
T01621A
Figure 18-2. Application
18 - 4 WBPEEUI210504C0
