National Instruments PID Control Toolkit 371685C-01 - Manual (Page 16)

Chapter 2 PID Algorithms
© National Instruments Corporation 2-7 LabWindows/CVI PID Control Toolkit User Manual
Table 2-2. Tuning Formula under P-Only Control (Normal)
Controller K
c
T
i
T
d
P 0.2K
u
— —
PI 0.18K
u
0.8T
u
—
PID 0.25K
u
0.5T
u
0.12T
u
Table 2-3. Tuning Formula under P-Only Control (Slow)
Controller K
c
T
i
T
d
P 0.13K
u
— —
PI 0.13K
u
0.8T
u
—
PID 0.15K
u
0.5T
u
0.12T
u
Table 2-4. Tuning Formula under PI or PID Control (Fast)
Controller K
c
T
i
T
d
P T
p
/
τ
— —
PI 0.9T
p
/
τ
3.33
τ
—
PID 1.1T
p
/
τ
2.0
τ
0.5
τ
Table 2-5. Tuning Formula under PI or PID Control (Normal)
Controller K
c
T
i
T
d
P 0.44T
p
/
τ
— —
PI 0.4T
p
/
τ
5.33
τ
—
PID 0.53T
p
/ τ 4.0 τ 0.8 τ