Controlo De Pid

Volume EMC 27.01

Good Tuning:
A Pocket Guide
By Gregory K. McMillan

Copyright © 2001 ISA — The Instrumentation, Systems,
and Automation Society
67 Alexander Drive
P.O. Box 12277
Research Triangle Park, NC 27709
All rights reserved.
Printed in the United States of America.
10 9 8 7 6 5 4 3 2 1
ISBN

1-55617-726-7

No part of this work may be reproduced, stored in a retrievalsystem, or transmitted in any form or by any means,
electronic, mechanical, photocopying, recording or otherwise,
without the prior written permission of the publisher.
Library of Congress Cataloging-in-Publication Data
McMillan, Gregory K., 1946Pocket guide to good tuning / by Gregory K. McMillan.
p. cm.
ISBN 1-55617-726-7
1. Automatic control--Handbooks, manuals, etc. I. Title.TJ213.M352 2000
670.42’75--dc21
00-036958
ISA wishes to acknowledge the cooperation of those
manufacturers, suppliers, and publishers who granted
permission to reproduce material herein. The Society regrets
any omission of credit that may have occurred and will make
such corrections in future editions.

Notice
The information presented in this publication is for the
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information by the reader, both the author and the publisher
disclaim any and all liability of any kind arising out of such
use. The reader is expected to exercise sound professional
judgment in using any of the information presented in a
particular application.
Additionally, neither the author nor thepublisher have
investigated or considered the effect of any patents on the
ability of the reader to use any of the information in a
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information presented.
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representation regarding the availability of any referenced
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instructions on use of any commercial product must be
followed at all times, even if in conflictwith the information
in this publication.

Editor’s Introduction
This “mini-book” is available both in downloadable form, as part of the ISA Encyclopedia
of Measurement and Control, and bound in a
print format.
“Mini-books” are small, unified volumes,
from 25 to 100 pages long, drawn from the ISA
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makes mini-books available to readers whoneed
narrowly focused information on particular subjects rather than a broad-ranging text that provides an overview of the entire subject. Each
provides the most recent version of the material—in some cases including revisions that have
not yet been incorporated in the larger parent
volume. Each has been re-indexed and renumbered so it can be used independently of the parent volume. Othermini-books on related
subjects are available.
To order:

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Table of Contents
Chapter 1.0 Best of the Basics................................ 1
1.1 Introduction ................................. 1
1.2 Actions Speak Louder than Words 2
1.3 Controller à la Mode..................... 6
1.4 Is That Your FinalResponse? ....... 7
1.5 The Key to Happiness ................ 30
1.6 Nothing Ventured, Nothing
Gained ....................................... 34
Chapter 2.0 Tuning Settings and Methods ........... 43
2.1 First Ask the Operator ................ 43
2.2 Default and Typical Settings....... 43
2.3 The General-purpose Closed-loop
Tuning Method............................ 47
2.4 The Shortcut...