Chapter 2
PID Algorithms
LabWindows/CVI PID Control Toolkit User Manual
2-8
ni.com
Note
During tuning, the process remains under closed-loop PID control. It is not
necessary to switch off the existing controller and perform the experiment under open-loop
conditions. In the setpoint relay experiment, the SP signal mirrors the SP for the PID
controller.
Table 2-6.
Tuning Formula under PI or PID Control (Slow)
Controller
K
c
T
i
T
d
P
0.26
T
p
/
τ
—
—
PI
0.24
T
p
/
τ
5.33
τ
—
PID
0.32
T
p
/
τ
4.0
τ
0.8
τ