© National Instruments Corporation v LabWindows/CVI PID Control Toolkit User Manual
Contents
About This Manual
Conventions...................................................................................................................vii
Related Documentation..................................................................................................vii
Chapter 1
Overview of the PID Control Toolkit
System Requirements....................................................................................................1-1
Installation Instructions..................................................................................................1-1
Activation Instructions...................................................................................................1-2
PID Control Toolkit Applications..................................................................................1-2
PID Control....................................................................................................................1-3
Chapter 2
PID Algorithms
The PID Algorithm........................................................................................................2-1
Implementing the PID Algorithm with the PID Functions .............................2-2
Gain Scheduling..............................................................................................2-3
The Precise PID Algorithm............................................................................................2-4
Error Calculation.............................................................................................2-4
Proportional Action.........................................................................................2-4
Trapezoidal Integration...................................................................................2-5
The Autotuning Algorithm............................................................................................2-5
Tuning Formulas.............................................................................................2-6
Chapter 3
Using the PID Control Toolkit
Designing a Control Strategy.........................................................................................3-1
Setting Timing.................................................................................................3-1
Tuning Controllers Manually..........................................................................3-2
Using the PID Library....................................................................................................3-4
PID Controller.................................................................................................3-4
Using PID with Autotuning.............................................................................3-6
Using PID with Gain Scheduling....................................................................3-7
Using PID with Lead-Lag...............................................................................3-8
Using PID with Setpoint Profiling..................................................................3-8
Using Ramp Generators..................................................................................3-9