Question

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Q1 : In a process controlled by PID loop, explain what role each of the below term plays in reference to system’s output, set point and error. In no more than 4-5 lines.

Proportional Gain (P):

Integral Gain (I):

Derivative Gain (D):

Answer 1

PROPORTIONAL GAIN:

The Proportional Gain is the most important tuning parameter. It affects the responsiveness of the system. A low gain makes the system sluggish and unresponsive. A gain that is too high makes the axis oscillate or vibrate.

The Proportional Gain controls how much of the Control Output is added to the PFID Output due to the Position Error or Velocity Error for position or velocity control, respectively. Position control is defined as when the Current Control Mode is Position PID. Velocity control is defined as when the Current Control Mode is Velocity PID.

INTEEGRAL GAIN :

This gain helps compensate for changing system dynamics, such as varying loads, and often aids the axis in rapidly reaching the Command Position or Command Velocity. A low gain slows the response of the axis to changes and may keep the axis from reaching the Command Position or Command Velocity. A gain that is too high may make the axis oscillate.

The Integral Gain controls how much of the Control Output is generated due to the accumulated Position Error or Velocity Error while in position control or velocity control, respectively. Position control is defined as when the Current Control Mode is Position PID. Velocity control is defined as when the Current Control Mode is Velocity PID.

DERIVATIVE GAN:

The Differential Gain may greatly enhance performance on many motion systems. On velocity drives or hydraulic systems, Differential Gain will tend to dampen out oscillations and help the axis track during acceleration and deceleration. On torque drives, the differential gain is essential for providing damping to the motor.

The Differential Gain controls how much of the Control Output is added to the PFID Output due to the difference between the target and actual velocity or target and actual acceleration for position or velocity control, respectively. Position control is defined as when the Current Control Mode is Position PID. Velocity control is defined as when the Current Control Mode is Velocity PID.

A disadvantage of Differential Gain is that it amplifies position measurement noise. If there is too much noise or the gain is too high, this can cause the system to chatter or oscillate.

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