
Lake Shore Model 330 Autotuning Temperature Controller User’s Manual
3-10
Operation
3.3.4.1
Initial Values of PID Parameters In Autotune Mode
Initial values of PID parameters in Autotune mode are set when the controller is changed from Manual to
either P, PI or PID control. Initial factory settings are Autotuning PI where P = 50 and I = 20, which
corresponds to 20 repeats per 1000 seconds or an equivalent time constant of 1000/20 or 50 seconds.
3.3.4.2 Minimum
Overshoot
The full three function PID control algorithm minimizes overshoot. It uses Gain (P), Reset (I), and Rate (D) to
bring the system to the control temperature as smoothly as possible. Rate is limited to ¼ the reset setting in
seconds, e.g., if the reset rate is 20, then rate is limited to 12 seconds or less. To select the PID tuning
algorithm, hold the
Autotune
key and press the
t
key to cycle the Control window display to PID.
3.3.4.3
Minimum Time To Setpoint
The two function PI control algorithm minimizes the time it takes for the system to first reach the setpoint.
Some of the damping used in PID control is not present so expect more overshoot. To select the PI tuning
algorithm, hold the
Autotune
key and press the
t
key to cycle the Control window display to PI. This is the
Model 330 default condition.
3.3.4.4 Gain
Only
With the Gain (P) only control algorithm, the controller initiates no time dependent control parameters other
than digital sampling rate. In this mode, characteristics of the controlled system are more apparent, but there
is a temperature offset from the setpoint. To select the P tuning algorithm, hold the
Autotune
key and press
the
t
key to cycle the Control window display to P.
3.3.5
Manual Control Settings (PID)
In manual mode, the controller accepts PID parameters from the user to provide three term PID control. To
put the controller in Manual mode, hold the
Autotune
key and press the
t
key to cycle the lower Control
window display to OFF, then release. The controller is now in Manual mode, and the user may set gain
(Proportional, see Paragraph 3.3.5.1), reset (Integral, see Paragraph 3.3.5.2), and rate (Derivative, see
Paragraph 3.3.5.3). Paragraph 3.3.5.4 discusses the effect of temperature on tuning parameters.
3.3.5.1
Setting Gain (Proportional)
Enter a gain (Proportional) value from 000 to 999. To enter a gain value, press the
P
key. The lower Control
window display shows the current P setting (the default is 50) with the units place blinking. Use the numeric
keypad to enter a new setting. Press
Enter
to accept the new Proportional setting or
Escape
to return the
normal display and retain the old setting.
To experimentally determine proper gain, use the following procedure. Set Autotune to Manual, then turn off
both Reset (I) and Rate (D). Enter a nominal gain of 50. Verify that the heater turns on; if not, increase the
gain setting until the heater turns on, then let the system stabilize. It stabilizes at some point below the setpoint
(typically 2 to 3 K below). Increase the gain by factors of two until the system temperature begins to oscillate.
Adjust the gain for small sustained oscillations. Measure the period of these oscillations to determine the
correct setting for reset. Reduce the gain by a factor of two to three until the temperature again stabilizes. Be
sure to allow time at each setting for the system to stabilize (if it will). Some systems and cryogenic sensors
with low sensitivity require the maximum gain.
3.3.5.2
Setting Reset (Integral)
Adjusts the reset time constant of reset (Integral) in the control function. Reset time in seconds = (999/Value
Entered). For example, if the Reset setting is 20 the reset time in seconds is about 50 (999/20=50). Enter a
value from 1 to 999. A reset of zero makes the controller proportional only. To enter a reset value, press the
I
key. The lower Control window display shows the current I setting (the default is 20) with the units place
blinking. Use the numeric keypad to enter a new setting. Press
Enter
to accept the new setting or
Escape
to
return the normal display and retain the old setting.