The Chien-Hrones-Reswick autotuning method focuses on setpoint response and disturbance response. This method provides formulas for 0% and 20% overshoot.
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Note��You must use the PID Autotuning Design VI to implement this autotuning method. Select the Chien-Hrones-Reswick polymorphic instance and use the Tuning specifications input to configure which formula you want to use. |
The following tables shows the Chien-Hrones-Reswick recommendations for each tuning formula:
| Regulator � 0% overshoot | |||
|---|---|---|---|
| Controller | Kc | Ti | Td |
| P | 0.3TP/ |
� | � |
| PI | 0.6TP/ |
4 |
� |
| PID | 0.95TP/ |
2.4 |
0.42 |
where TP is the time constant and is the deadtime.
| Regulator � 20% overshoot | |||
|---|---|---|---|
| Controller | Kc | Ti | Td |
| P | 0.7TP/ |
� | � |
| PI | 0.7TP/ |
2.3 |
� |
| PID | 1.2TP/ |
2 |
0.42 |
where TP is the time constant and is the deadtime.
| Servo � 0% overshoot | |||
|---|---|---|---|
| Controller | Kc | Ti | Td |
| P | 0.3TP/ |
� | � |
| PI | 0.35TP/ |
1.2 |
� |
| PID | 0.6TP/ |
|
0.5 |
where TP is the time constant and is the deadtime.
| Servo � 20% overshoot | |||
|---|---|---|---|
| Controller | Kc | Ti | Td |
| P | 0.7TP/ |
� | � |
| PI | 0.6TP/ |
|
� |
| PID | 0.95TP/ |
1.4 |
0.47 |
where TP is the time constant and is the deadtime.