Heater PID operation during cooling phase

I don't think a different mode is called for. You should either consider the PID tuning, or you should examine the fine detail of the integrator anti-windup.

I suspect that when you say "undershoot" you mean it's going too cold, i.e. it's overshooting in the negative direction. I have found that if you implement integrator anti-windup by simply limiting the integrator value between some constants you almost guarantee overshoot (or what I think you're calling undershoot here).

I have found that a much better anti-windup scheme is to limit the integrator based on the proportional component and the integrator, i.e. if

output = integrator_state + kd * error

then limiting the integrator such that

min_output

Whenever the integrator disagrees with sign of the measured error (give it a wee bit o' slack), dump it.

Jerry

"wee bit" = enough to accomodate the noise in the input!

Actually, the method I cite above is also susceptable to noise, but not, I suspect, as problematical as yours. The nice thing about it is that when it comes off of saturation the integrator has a large negative componoent that's actively holding it back -- in a system that's tuned for critical damping or more this seems to (probably "does", but I haven't proven it) always prevent overshoot.

Not just noise, but possible oscillations not under the loops control.

I haven't gone there very often -- not at all since retiring -- because I use Phelan's approach by preference. With all the embellishments that can be digitally be hung on in PIDs, the two come out about the same place, but Phelan's approach is more straightforward. For second-order systems, it has inherently no overshoot. Instead of dumping the integrator, it is bounded to just keep the output from saturating. In a way, the bound is dynamically adjusted depending on the input.

Jerry

Actually I'm fairly sure that the approach I outline above and Phelan's approach are either exactly or very nearly equivalent.

Allsorts of possibilities here. You do not say what the controller is manipulating, but there is quite likely a difference in gain between heating and cooling systems. It may be appropriate to have some form of gain compensation. You might characterise the output to achieve this. Presumably you have a split range output? Is the proportional response to set point change enabled/disabled?

H.T.Dearden Time Domain Solutions Ltd

Hi, Use different PID parameters for haeting and cooling phase. skrev i meddelandet news: snipped-for-privacy@4ax.com...