0 1 00:00:21,320 --> 00:00:21,820 Hello. 1 2 00:00:21,860 --> 00:00:26,320 In this video we are going to learn to PID control technical informations. 2 3 00:00:26,330 --> 00:00:35,750 This is PID instruction and S1 is target value or set value S2 is present value than we are reading 3 4 00:00:35,750 --> 00:00:40,490 from the external devices and S3 is parameters. 4 5 00:00:40,550 --> 00:00:49,640 But if our PID instruction is sixteen bit S3 the parameter is use 20 continues device 5 6 00:00:49,640 --> 00:00:51,410 for 32 bit instruction. 6 7 00:00:51,500 --> 00:00:53,500 It used 21 continues device 7 8 00:00:53,510 --> 00:00:54,400 That's okay. 8 9 00:00:54,470 --> 00:01:01,380 Doesn't matter for a moment and D means output value so we will get output of the PDI 9 10 00:01:01,380 --> 00:01:13,850 Instruction from here GPWM and this is S1 is another PID command(used with PID-General pulse width modulation) PID command means we will use these 10 11 00:01:14,090 --> 00:01:23,180 GPWM command with the PID command S1 is pulse output with S2 is pulse output cycle and 11 12 00:01:23,180 --> 00:01:26,250 D means pulse output device. 12 13 00:01:26,270 --> 00:01:32,810 This is also another an important command for the PID than we will do an example in the next video 13 14 00:01:33,230 --> 00:01:42,200 as exercise and we will heat one system and we will cool one system according to PID 14 15 00:01:42,890 --> 00:01:45,410 we are going to use PID - GPWM command. 15 16 00:01:45,440 --> 00:01:51,290 That's okay but before the instruction PIDis executed this is another one important point for the 16 17 00:01:51,290 --> 00:02:03,130 PID the parameters of the PD needs to be set and in here I just copied the complete page that because 17 18 00:02:03,520 --> 00:02:09,100 we need this page then we can use this page to understand PID parameters. 18 19 00:02:09,490 --> 00:02:14,470 You can see in here S3 is sampling time it is starting from S3. 19 20 00:02:14,470 --> 00:02:15,840 What was the S3. 20 21 00:02:15,850 --> 00:02:18,430 Remember S3 was parameter. 21 22 00:02:18,580 --> 00:02:25,270 If this instruction is 16 bit so it was using 20 continues devices 22 23 00:02:25,270 --> 00:02:30,670 So in here it is starting from S3 AND in the end s3 + 19. 23 24 00:02:30,700 --> 00:02:34,660 So what is these parameters for the PID sampling time. 24 25 00:02:34,660 --> 00:02:37,870 And here are the range S3 +1. 25 26 00:02:37,870 --> 00:02:47,080 Proportional gain integral gain integral time constant and etc. but in here S3+4 control 26 27 00:02:47,080 --> 00:02:47,680 mode. 27 28 00:02:47,680 --> 00:02:56,710 This is really really important for us because how we are going to control PID if it is equals 28 29 00:02:56,710 --> 00:03:04,210 to 0 it is automatically controls if it equals to 1 forward control. 29 30 00:03:04,300 --> 00:03:12,550 So that means E =SV-PV ,reverse control equals E=PV-SV 30 31 00:03:12,550 --> 00:03:13,500 -- 31 32 00:03:13,600 --> 00:03:20,800 And if we select this control mode S3 parameters are adjusted automatically for temperature control. 32 33 00:03:20,800 --> 00:03:23,590 Important point if we adopted. 33 34 00:03:23,590 --> 00:03:30,040 As 4 temperature control which has been adjusted and if İT equals to 5 it is an automatic mode 34 35 00:03:30,070 --> 00:03:33,610 and manual control and manual control 2. 35 36 00:03:33,700 --> 00:03:43,300 But you can read this page and this section and we will adapt our PID command according to our system. 36 37 00:03:43,360 --> 00:03:50,170 So how we are going to control our PID automatically or are we going to control temperature 37 38 00:03:50,470 --> 00:03:55,930 and how we are going to control this temperature manual or automatically. 38 39 00:03:55,930 --> 00:04:05,710 So for example if we are going to control temperature as automatically we can write three as control 39 40 00:04:05,920 --> 00:04:07,170 mode and in here. 40 41 00:04:07,180 --> 00:04:13,570 Also you can see in other parameters max. integral value or accumulated integral value an etc. 41 42 00:04:13,870 --> 00:04:17,270 and timing diagram for the instruction of the PID 42 43 00:04:17,290 --> 00:04:27,490 You can see in here scan cycle sampling time so sampling time works PID reads, works or process 43 44 00:04:27,610 --> 00:04:30,020 to information in this time. 44 45 00:04:30,160 --> 00:04:34,310 So sampling time can be 1 or sampling time. 45 46 00:04:34,390 --> 00:04:41,560 1 to 2000 but unit is ten milliseconds so if we put one s3 46 47 00:04:41,560 --> 00:04:42,550 So what will happen. 47 48 00:04:42,550 --> 00:04:44,920 It will equal to 10 milliseconds. 48 49 00:04:44,950 --> 00:04:48,670 This is just to technical information. 49 50 00:04:48,670 --> 00:04:54,940 Technical page to understand PID parameters and these are all the parameters. 50 51 00:04:54,940 --> 00:05:02,050 But after example you will understand completely how can we work with this parameter in here. 51 52 00:05:02,050 --> 00:05:09,520 We have a control diagram and in Figure 2 in here you can see set value is in here and we here from 52 53 00:05:09,580 --> 00:05:15,070 here present value this algorithm is designed for the temperature controller. 53 54 00:05:15,070 --> 00:05:17,910 If the sampling time is set four second. 54 55 00:05:18,010 --> 00:05:28,000 So K400 means it was the ten millisecond right here ten millisecond multiplied by 400 and 55 56 00:05:28,000 --> 00:05:35,470 it will equal 4000 milliseconds and it will equal to for second the output value range will be zero 56 57 00:05:35,500 --> 00:05:43,200 to four thousand and cycle time of the instruction GPWM needs to be for second important. 57 58 00:05:43,450 --> 00:05:49,210 If users have no idea about the parameter adjustment they can select K3 first. 58 59 00:05:49,320 --> 00:05:52,040 Another one really important point. 59 60 00:05:52,210 --> 00:06:01,120 If you don't know anything about parameter you can adjust it as 3 control mode and after parameters 60 61 00:06:01,120 --> 00:06:05,050 are adjusted the value will be changed to K4 automatically. 61 62 00:06:05,050 --> 00:06:13,090 So what is that means four was the temperature controller which has been adjusted we can adapt it as 62 63 00:06:13,090 --> 00:06:15,550 3 and then automatically it will . 63 64 00:06:15,550 --> 00:06:23,440 turn on to 4 and user can change the parameters to better ones according to results of the adjustment. 64 65 00:06:23,440 --> 00:06:24,870 What is this adjustment. 65 66 00:06:24,880 --> 00:06:31,060 You can see these pictures but before we have suggestions for you there are a lot of environments where 66 67 00:06:31,060 --> 00:06:38,180 PID can be used and therefore users have to select control functions appropriately 67 68 00:06:38,350 --> 00:06:39,200 -- 68 69 00:06:39,280 --> 00:06:45,090 For example if s3+4 is K3 What is that means. 69 70 00:06:45,160 --> 00:06:51,640 That means control mode the instruction cannot be used in a motor control environment otherwise improper 70 71 00:06:51,640 --> 00:06:59,950 control may occur when the users have when users adjust three main parameters KP KI and KD 71 72 00:07:00,000 --> 00:07:00,450 -- 72 73 00:07:00,840 --> 00:07:05,680 S3+4 K0 K1 K1 K5. 73 74 00:07:05,780 --> 00:07:09,520 they have to adjust the KP first. 74 75 00:07:09,540 --> 00:07:13,320 this is the parameters for the PID. 75 76 00:07:14,570 --> 00:07:16,480 And other really important point. 76 77 00:07:16,480 --> 00:07:19,420 You need to adjust to. 77 78 00:07:19,420 --> 00:07:28,840 KP First according to experiences and set the KI and the KD to 0 then users can handle the control 78 79 00:07:29,100 --> 00:07:31,900 they can increase the KI and KD 79 80 00:07:31,900 --> 00:07:32,210 -- 80 81 00:07:32,530 --> 00:07:32,850 Okay. 81 82 00:07:32,860 --> 00:07:41,950 You want to adapt your PID instruction as manually with yourself first you need to adjust KP first that 82 83 00:07:41,950 --> 00:07:42,640 moment. 83 84 00:07:42,640 --> 00:07:54,660 You should put zero to KI and KD and then you can increase KI and KD to prevent the parameters 84 85 00:07:54,670 --> 00:07:58,620 which has been adjusts automatically from disappearing after a power cut. 85 86 00:07:58,630 --> 00:08:00,900 This is really another important point here. 86 87 00:08:00,910 --> 00:08:07,450 It is suggested that users should store the parameters in the retentive to data register remain data registers. 87 88 00:08:07,570 --> 00:08:11,630 If S3+4 is K3 or K4 88 89 00:08:11,650 --> 00:08:20,100 If you are using control mode S3 and 4 we are suggesting to you you should use retentive 89 90 00:08:20,110 --> 00:08:22,210 to data registers. 90 91 00:08:22,210 --> 00:08:28,690 The parameters which have been adjusted automatically are not necessarily suitable for every controlled 91 92 00:08:29,170 --> 00:08:30,130 environment. 92 93 00:08:30,190 --> 00:08:34,960 Therefore the users can modify the parameters which have been adjust automatically. 93 94 00:08:34,960 --> 00:08:36,900 This is another really important point. 94 95 00:08:36,910 --> 00:08:43,270 However it is suggested that the users only modify the KI or KD 95 96 00:08:43,310 --> 00:08:47,800 the action of the PID depends on many parameters. 96 97 00:08:47,800 --> 00:08:53,440 You can see it them all in here and to prevent improper control from occurring. 97 98 00:08:53,440 --> 00:09:02,080 Please do not set parameters randomly in the left picture you can see KP.. 98 99 00:09:02,350 --> 00:09:03,100 and KP 99 100 00:09:03,100 --> 00:09:08,000 It was 5 10 20 and 40 and set value was 1. 100 101 00:09:08,020 --> 00:09:08,890 You can see it. 101 102 00:09:09,130 --> 00:09:17,110 It is increasing 5 to 10 and we are closing to set value and a little bit increased to 20. 102 103 00:09:17,110 --> 00:09:25,360 It is so close and if we increase it to 40 for example in the beginning you can see it reached to top 103 104 00:09:26,140 --> 00:09:31,420 level or top value but in here you can see kp=10 104 105 00:09:31,420 --> 00:09:41,320 KI= 8 or selected or adjusted to 8 and KD=0.2 and present value equals to set value. 105 106 00:09:41,500 --> 00:09:44,310 So how can you adjust your PID control. 106 107 00:09:44,310 --> 00:09:53,530 For example you can increase to kp first and then kı and KD these are you can just increase or decrease 107 108 00:09:53,560 --> 00:10:00,970 a little bit then you can follow your scheme or output or the values from your device or from your plc 108 109 00:10:01,240 --> 00:10:02,300 to the devices. 109 110 00:10:02,380 --> 00:10:06,760 And that moment you can understand ah - ki is a little bit high. 110 111 00:10:07,250 --> 00:10:11,800 Let's increase it or decrease it or kd let's increase or decrease it. 111 112 00:10:11,830 --> 00:10:20,800 So how it is reacting to my system than you can adapt these three important parameters and I'am 112 113 00:10:20,800 --> 00:10:22,100 finished for this with. 113 114 00:10:22,180 --> 00:10:28,600 In the next video we will do PID the example heating and cooling that moment we will understand completely 114 115 00:10:28,960 --> 00:10:33,880 how PID and GPWM instructions works. 115 116 00:10:33,910 --> 00:10:35,250 See you in the next video.