{"id":109,"date":"2019-09-03T20:26:24","date_gmt":"2019-09-03T20:26:24","guid":{"rendered":"https:\/\/www.axcontrol.com\/blog\/?p=109"},"modified":"2023-09-25T16:48:31","modified_gmt":"2023-09-25T16:48:31","slug":"pid-and-servo-tutorial","status":"publish","type":"post","link":"https:\/\/www.axcontrol.com\/blog\/2019\/pid-and-servo-tutorial\/03\/09\/","title":{"rendered":"PID and Servo Tutorial"},"content":{"rendered":"<p>PID,\u00a0 or Proportional-Integral-Derivative, is a control method used in industrial automation. This tutorial will clear up some misconceptions about this term.<\/p>\n<p>PID controllers have been used in some form since the early 1900s.\u00a0 They were originally based upon a 19th-century governor speed limiter.\u00a0 Early PID-like controllers were used to automatically steer ships for the US Navy.\u00a0 These controllers were developed by Nicolas Minorsky. He focused on designing a system that would provide stability against both small and large disturbances.<\/p>\n<p>Today, nearly 95% of closed-loop industrial systems use PID control.<\/p>\n<p>PID is essentially a feedback loop control made out of code. It can sometimes be made from the hardware.\u00a0 PID, which stands for Proportional Integral Derivative, is made up of three separate parts that have been joined.\u00a0 However, in some situations, all three parts of the control are not needed. As a result,\u00a0 you can have P control, PD control, or PI control.<\/p>\n<h2><strong>Explanation of PID Parts<\/strong><\/h2>\n<ul>\n<li><strong>P=Proportional. <\/strong>The proportional component of PID allows for the correction of a value in proportion to an expected error.\u00a0 For example, if in building a system, you know your battery will slowly discharge and likely provide less power to your system, you can write a (P) value to correct for this known value error to control your output accordingly.<\/li>\n<li><strong>I=Integral.\u00a0 <\/strong>The integral component of PID essentially takes up the slack left by (P.)\u00a0 It is the running sum of previous errors.\u00a0 \u00a0What this means,\u00a0 is whatever small amount of error left over after (P) is accounted for is taken care of by (I.)<\/li>\n<li><strong>D=Derivative.\u00a0<\/strong> The last bit of the PID code is supposed to predict the future.\u00a0 The derivative component finds the difference between any current error and any previous error and adjusts the output accordingly.\u00a0 \u00a0Control loops that include a (D) component can significantly more time to &#8216;dial in&#8217; due to the complex nature of the derivative.<\/li>\n<\/ul>\n<p>PID frequencies are relative to the bandwidth of the servo or process, where the Integral term is most effective at low frequencies, Proportional at moderate frequencies, and Differential at higher frequencies.\u00a0 PID is more common in process control where pressures, temperatures,\u00a0 position, etc need to be optimally controlled.<\/p>\n<h2>The Effects of PID<\/h2>\n<p>In order to properly discuss the effects of PID, we must first look at a basic closed-loop servo and the equation for a closed-loop response.\u00a0 In the Sept. 1990 issue of Motion Control, this block diagram of a basic servo and its response formula were published.<\/p>\n<p><img data-attachment-id=\"112\" data-permalink=\"https:\/\/www.axcontrol.com\/blog\/2019\/pid-and-servo-tutorial\/03\/09\/bode1\/\" data-orig-file=\"https:\/\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/09\/bode1.gif\" data-orig-size=\"346,171\" data-comments-opened=\"0\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"Bode 1\" data-image-description=\"&lt;p&gt;photo of how to get the frequency of a circuit&lt;\/p&gt;\n\" data-image-caption=\"\" data-medium-file=\"https:\/\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/09\/bode1-300x148.gif\" data-large-file=\"https:\/\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/09\/bode1.gif\" decoding=\"async\" loading=\"lazy\" class=\"alignnone wp-image-112 size-full\" src=\"https:\/\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/09\/bode1.gif\" alt=\"bode 1-1\" width=\"346\" height=\"171\" \/><\/p>\n<p>In the top diagram, we have the element (A).\u00a0 The action of the summing junction is to subtract the feedback signal (F) from the input (C) with the result known as the error signal (E)=C-F.<\/p>\n<p>The Bode diagram (below)\u00a0 shows how open-loop gain A in an amplifier\/motor combination typically experiences a decrease of amplitude by a factor of 10 for every factor of 10 increase in frequency.<\/p>\n<p><img data-attachment-id=\"114\" data-permalink=\"https:\/\/www.axcontrol.com\/blog\/2019\/pid-and-servo-tutorial\/03\/09\/bode1-1\/\" data-orig-file=\"https:\/\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/09\/bode1-1.gif\" data-orig-size=\"318,208\" data-comments-opened=\"0\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"Bode 1 2\" data-image-description=\"&lt;p&gt;Chart showing frequency of a closed and open loop circuit&lt;\/p&gt;\n\" data-image-caption=\"\" data-medium-file=\"https:\/\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/09\/bode1-1-300x196.gif\" data-large-file=\"https:\/\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/09\/bode1-1.gif\" decoding=\"async\" loading=\"lazy\" class=\"alignnone wp-image-114 size-full\" src=\"https:\/\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/09\/bode1-1.gif\" alt=\"Bode 1\" width=\"318\" height=\"208\" \/><\/p>\n<p>The net effect is that A is also A<img decoding=\"async\" loading=\"lazy\" src=\"http:\/\/support.ctc-control.com\/images\/pictures\/support\/tsign1.gif\" alt=\"\" width=\"12\" height=\"8\" align=\"bottom\" border=\"0\" \/>-90\u00b0 since it has a gain factor of A and a phase lag of 90\u00b0. This closed-loop response [F\/C = A\/(1+A)]<\/p>\n<p>As A&#8217; approaches 1 on the Bode diagram (at 10 rad\/sec in the example) the denominator becomes 1+1 -180\u00b0=1-1=0 and F\/C becomes infinite.\u00a0 As a result, severe oscillations can occur.\u00a0 \u00a0But in order to maintain a stable system, the denominator must not be allowed to approach zero.\u00a0 A commonly accepted design goal is for A&#8217; to have -135\u00b0 of phase shift or less (45\u00b0 of phase margin) This will result in a 25% overshoot of the closed-loop system in response to small step inputs.<\/p>\n<p>As the phase margin gets larger, the amount and number of overshoots diminish.\u00a0 In addition, as the phase margin gets smaller, the overshoots get larger and will &#8220;ring&#8221; for longer periods.\u00a0 Finally, a sustained oscillation will occur.<\/p>\n<h2>Conclusion<\/h2>\n<p>PID provides phase compensation to improve the performance of the servo, using coding to create a closed-loop servo with a wider bandwidth and a greater gain (thus greater accuracy) within that bandwidth. If no velocity loop exists, PID is a good alternative.<\/p>\n<p style=\"text-align: center;\">Take a look at our current Woodward <a href=\"https:\/\/www.axcontrol.com\/automation\/Woodward\/servo-position-controller\">servo position controller<\/a> stock for real-world examples of these machines.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>PID,\u00a0 or Proportional-Integral-Derivative, is a control method used in industrial automation. This tutorial will clear up some misconceptions about this term. PID controllers have been used in some form since the early 1900s.\u00a0 They were originally based upon a 19th-century governor speed limiter.\u00a0 Early PID-like controllers were used to automatically steer ships for the US &hellip; <a href=\"https:\/\/www.axcontrol.com\/blog\/2019\/pid-and-servo-tutorial\/03\/09\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;PID and Servo Tutorial&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false},"categories":[9],"tags":[59,60,56,57,58],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v21.2 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>PID and Servo Tutorial - AX Control, Inc.<\/title>\n<meta name=\"description\" content=\"A simple introduction to PID loops and servo systems. 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Copyright M Kenney 2021 Mechanical systems offer many different control options. One of these is the oddly-named bang-bang control. This short blog post answers some common questions about this control theory. What is bang-bang control theory? Bang-bang control is a kind\u2026","rel":"","context":"In &quot;Automation&quot;","img":{"alt_text":"Honeywell-Thermostat","src":"https:\/\/i0.wp.com\/www.axcontrol.com\/blog\/wp-content\/uploads\/2021\/07\/Honeywell-Thermostat.jpg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":1279,"url":"https:\/\/www.axcontrol.com\/blog\/2021\/directlogic-405-faqs\/01\/04\/","url_meta":{"origin":109,"position":1},"title":"DirectLogic 405: What You Need to Know","date":"April 1, 2021","format":false,"excerpt":"The DirectLogic D4-450 CPU The DirectLogic 405 from Koyo is a modular controller with built-in PID instruction. End-users can add a number of different I\/O modules to this low-cost controller to create configurations that meet their particular needs. The DirectLogic 405 offers up to 3,500 local or distributed individual remote\u2026","rel":"","context":"In &quot;Education&quot;","img":{"alt_text":"Standing_D4-450-DirectLogic-450","src":"https:\/\/i0.wp.com\/www.axcontrol.com\/blog\/wp-content\/uploads\/2021\/04\/Standing_D4-450-DirectLogic-450.jpg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":1071,"url":"https:\/\/www.axcontrol.com\/blog\/2021\/a-quick-primer-on-servo-position-controllers\/21\/01\/","url_meta":{"origin":109,"position":2},"title":"A Quick Primer on Servo Position Controllers","date":"January 21, 2021","format":false,"excerpt":"Servo systems are widely used in manufacturing, laser processing equipment, industrial robotics, and various robotic and motor applications.\u00a0 But if you\u2019re just starting to dip your foot into the world of servos there are plenty of terms you probably have never heard of.\u00a0 Servo position controller. Here\u2019s a short overview\u2026","rel":"","context":"In &quot;Manufacturing&quot;","img":{"alt_text":"A servo position controller (plc servo motor kontrol\u00c3\u00bc) ","src":"https:\/\/i0.wp.com\/www.axcontrol.com\/blog\/wp-content\/uploads\/2021\/01\/ic800vmcb1100-servo-motor.jpg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":2447,"url":"https:\/\/www.axcontrol.com\/blog\/2021\/what-is-a-closed-loop-system\/23\/11\/","url_meta":{"origin":109,"position":3},"title":"What is a Closed-loop System?","date":"November 23, 2021","format":false,"excerpt":"Control loops can control speed, position, torque, temperature, etc. A closed-loop system will make automatic adjustments without external adjustment. The system uses a setpoint as part of the initial setup. Sound difficult? It's not. Let's break that down. Interacting With Closed-loop Systems You've been using closed-loop systems for most of\u2026","rel":"","context":"In &quot;Manufacturing&quot;","img":{"alt_text":"pexels-pixabay-159298","src":"https:\/\/i0.wp.com\/www.axcontrol.com\/blog\/wp-content\/uploads\/2021\/11\/pexels-pixabay-159298-scaled.jpg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":236,"url":"https:\/\/www.axcontrol.com\/blog\/2019\/a-short-history-of-eurotherm\/10\/12\/","url_meta":{"origin":109,"position":4},"title":"A Short History of Eurotherm","date":"December 10, 2019","format":false,"excerpt":"What do you know about the history of Eurotherm? Industrial companies grow, merge, and get bought out by larger companies. This is not unusual. But when you're trying to track down legacy products, it can make life difficult.At AX Control, we've had plenty of experience with these changes. We have\u2026","rel":"","context":"In &quot;Education&quot;","img":{"alt_text":"Parker Eurotherm Drive","src":"https:\/\/i0.wp.com\/www.axcontrol.com\/blog\/wp-content\/uploads\/2019\/12\/parker-eurotherm-drive.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":1454,"url":"https:\/\/www.axcontrol.com\/blog\/2021\/servo-drive-features-you-should-know-about\/18\/06\/","url_meta":{"origin":109,"position":5},"title":"Servo Drive Features You Should Know About","date":"June 18, 2021","format":false,"excerpt":"The Reliance Electric Vectrive ACDA-33 Servo Drive The servo drive of today is not the same as the basic power amplifier of yesterday.\u00a0 These complex equipment devices have dozens of available features that expand and improve their original motion control abilities. \u00a0 We don\u2019t want you to miss out on\u2026","rel":"","context":"In &quot;Automation&quot;","img":{"alt_text":"Vectrive-ACDA-Servo-Drive","src":"https:\/\/i0.wp.com\/www.axcontrol.com\/blog\/wp-content\/uploads\/2021\/06\/Vectrive-ACDA-Servo-Drive.jpg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]}],"_links":{"self":[{"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/posts\/109"}],"collection":[{"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/comments?post=109"}],"version-history":[{"count":12,"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/posts\/109\/revisions"}],"predecessor-version":[{"id":20540,"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/posts\/109\/revisions\/20540"}],"wp:attachment":[{"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/media?parent=109"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/categories?post=109"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.axcontrol.com\/blog\/wp-json\/wp\/v2\/tags?post=109"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}