PID LOOP SIMULATOR

Process
Gain (K) 1
Time Constant (T) 30 Output
Delay (L) 2 Set Point Controller
C + 1/Is + Ds
+
Controller -
Gain (C) 2
Integral (I) 0.4
Derivative (D) 0.2

(All times in seconds)

SetPoint / Process Value

PID Loop Simulation Process Value

60000

50000

40000

30000

20000

10000

0
102

126

190
198
206
214
222
230
238
246
110

134
142
150
158
166
174
182
-10

14
22
30
38
46
54
62
70
78
86
94

118
-2
6

-10000

-20000

-30000

-40000
Time (sec)

http://www.engineers-excel.com
 LATOR

Output
Process Process Value
K/(1+Ts) * e^(-Ls)

ulation Process Value Set Point Output

500000

400000

300000

200000
Output

100000

-100000
190
198
206
214
222
230
238
246
254
262
270
278
286
294
166
174
182

-200000

-300000

-400000

-500000
t SP OP PV Error AccumErr
-10 0 0 0 0 0
-9 0 0 0 0 0
-8 0 0 0 0 0
-7 0 0 0 0 0
-6 0 0 0 0 0
-5 0 0 0 0 0
-4 0 0 0 0 0
-3 0 0 0 0 0
-2 0 0 0 0 0
-1 0 0 0 0 0
0 1 4.7 0 1 1
1 1 7 0 1 2
2 1 9.5 0 1 3
3 1 11.2758 0.154084 0.845916 3.845916
4 1 12.36656 0.37852 0.62148 4.467396
5 1 12.55967 0.677558 0.322442 4.789838
6 1 11.79256 1.02501 -0.02501 4.764828
7 1 10.05197 1.39683 -0.39683 4.367998
8 1 7.414242 1.762791 -0.762791 3.605207
9 1 4.035025 2.091606 -1.091606 2.5136
10 1 0.145205 2.352578 -1.352578 1.161022
11 1 -3.963969 2.518519 -1.518519 -0.357497
12 1 -7.960749 2.568236 -1.568236 -1.925733
13 1 -11.49804 2.4888 -1.4888 -3.414533
14 1 -14.24166 2.277253 -1.277253 -4.691786
15 1 -15.89959 1.941611 -0.941611 -5.633397
16 1 -16.2499 1.501007 -0.501007 -6.134404
17 1 -15.16484 0.984901 0.015099 -6.119305
18 1 -12.62868 0.431362 0.568638 -5.550666
19 1 -8.747471 -0.115515 1.115515 -4.435151
20 1 -3.749193 -0.608891 1.608891 -2.82626
21 1 2.026421 -1.002947 2.002947 -0.823313
22 1 8.148286 -1.256842 2.256842 1.433529
23 1 14.12364 -1.338551 2.338551 3.77208
24 1 19.43519 -1.228234 2.228234 6.000315
25 1 23.58307 -0.920835 1.920835 7.92115
26 1 26.12852 -0.427619 1.427619 9.348769
27 1 26.73566 0.223562 0.776438 10.12521
28 1 25.20766 0.989377 0.010623 10.13583
29 1 21.51383 1.813536 -0.813536 9.322294
30 1 15.80471 2.630581 -1.630581 7.691713
31 1 8.412896 3.370745 -2.370745 5.320968
32 1 -0.161499 3.965546 -2.965546 2.355421
33 1 -9.280635 4.35368 -3.35368 -0.998259
34 1 -18.21267 4.486757 -3.486757 -4.485016
35 1 -26.18672 4.334369 -3.334369 -7.819386
36 1 -32.45527 3.888016 -2.888016 -10.7074
37 1 -36.35921 3.16347 -2.16347 -12.87087
38 1 -37.39039 2.201256 -1.201256 -14.07213
39 1 -35.24594 1.06508 -0.06508 -14.13721
40 1 -29.86938 -0.161834 1.161834 -12.97537
41 1 -21.47384 -1.382331 2.382331 -10.59304
42 1 -10.54426 -2.492513 3.492513 -7.100529
43 1 2.183331 -3.390033 4.390033 -2.710496
44 1 15.76534 -3.982891 4.982891 2.272395
45 1 29.115 -4.197998 5.197998 7.470393
46 1 41.08371 -3.988793 4.988793 12.45919
47 1 50.55373 -3.341176 4.341176 16.80036
48 1 56.53521 -2.277136 3.277136 20.0775
49 1 58.25963 -0.855598 1.855598 21.9331
50 1 55.26156 0.8298 0.1702 22.1033
51 1 47.44081 2.656041 -1.656041 20.44726
52 1 35.09831 4.478943 -3.478943 16.96831
53 1 18.94073 6.143795 -5.143795 11.82452
54 1 0.050989 7.497673 -6.497673 5.326844
55 1 -20.17524 8.402529 -7.402529 -2.075685
56 1 -40.12437 8.748012 -7.748012 -9.823698
57 1 -58.08523 8.46289 -7.46289 -17.28659
58 1 -72.38679 7.52402 -6.52402 -23.81061
59 1 -81.54274 5.961921 -4.961921 -28.77253
60 1 -84.3913 3.862205 -2.862205 -31.63473
61 1 -80.21798 1.362466 -0.362466 -31.9972
62 1 -68.8497 -1.35549 2.35549 -29.64171
63 1 -50.71005 -4.077728 5.077728 -24.56398
64 1 -26.82816 -6.573902 7.573902 -16.99008
65 1 1.203086 -8.615546 9.615546 -7.374534
66 1 31.31973 -9.995568 10.99557 3.621034
67 1 61.12628 -10.54741 11.54741 15.16844
68 1 88.07386 -10.16218 11.16218 26.33062
69 1 109.6646 -8.80224 9.80224 36.13286
70 1 123.6673 -6.509711 7.509711 43.64257
71 1 128.3263 -3.408893 4.408893 48.05146
72 1 122.5458 0.298099 0.701901 48.75336
73 1 106.0327 4.342624 -3.342624 45.41074
74 1 79.38111 8.407291 -7.407291 38.00345
75 1 44.08885 12.1492 -11.1492 26.85425
76 1 2.498266 15.22706 -14.22706 12.62719
77 1 -42.33895 17.33028 -16.33028 -3.703097
78 1 -86.8671 18.20753 -17.20753 -20.91063
79 1 -127.2899 17.69252 -16.69252 -37.60315
80 1 -159.8743 15.72446 -14.72446 -52.32761
81 1 -181.2713 12.36111 -11.36111 -63.68872
82 1 -188.8287 7.782801 -6.782801 -70.47152
83 1 -180.8681 2.286346 -1.286346 -71.75787
84 1 -156.8999 -3.731391 4.731391 -67.02647
85 1 -117.7543 -9.799604 10.7996 -56.22687
86 1 -65.60999 -15.40789 16.40789 -39.81898
 87 1 -3.910221 -20.04655 21.04655 -18.77242
88 1 62.83367 -23.24979 24.24979 5.477372
89 1 129.3445 -24.63853 25.63853 31.1159
90 1 189.9692 -23.95897 24.95897 56.07487
91 1 239.1292 -21.11357 22.11357 78.18844
92 1 271.7989 -16.18097 17.18097 95.36941
93 1 283.9734 -9.422561 10.42256 105.792
94 1 273.0835 -1.274066 2.274066 108.066
95 1 238.3221 7.678332 -6.678332 101.3877
96 1 180.844 16.73636 -15.73636 85.65134
97 1 103.8157 25.14042 -24.14042 61.51092
98 1 12.29746 32.12935 -31.12935 30.38158
99 1 -87.04273 37.0048 -36.0048 -5.62322
100 1 -186.3741 39.19512 -38.19512 -43.81834
101 1 -277.2794 38.31331 -37.31331 -81.13164
102 1 -351.4236 34.20365 -33.20365 -114.3353
103 1 -401.267 26.97225 -25.97225 -140.3075
104 1 -420.7635 16.99769 -15.99769 -156.3052
105 1 -405.9847 4.919406 -3.919406 -160.2246
106 1 -355.6119 -8.396969 9.396969 -150.8277
107 1 -271.2436 -21.91595 22.91595 -127.9117
108 1 -157.4785 -34.50723 35.50723 -92.40448
109 1 -21.75149 -45.03429 46.03429 -46.37019
110 1 126.0841 -52.45031 53.45031 7.08012
111 1 274.4099 -55.89355 56.89355 63.97367
112 1 410.6944 -54.77424 55.77424 119.7479
113 1 522.4864 -48.84499 49.84499 169.5929
114 1 598.4762 -38.24744 39.24744 208.8403
115 1 629.5394 -23.52937 24.52937 233.3697
116 1 609.674 -5.628849 6.628849 239.9986
117 1 536.7431 14.17607 -13.17607 226.8225
118 1 412.9461 34.35008 -33.35008 193.4724
119 1 244.9573 53.21144 -52.21144 141.261
120 1 43.69628 69.0635 -68.0635 73.19747
121 1 -176.279 80.33731 -79.33731 -6.139834
122 1 -397.7328 85.73419 -84.73419 -90.87402
123 1 -602.0115 84.35602 -83.35602 -174.23
124 1 -770.5175 75.81139 -74.81139 -249.0414
125 1 -886.2891 60.28677 -59.28677 -308.3282
126 1 -935.5612 38.57405 -37.57405 -345.9023
127 1 -909.1705 12.04887 -11.04887 -356.9511
128 1 -803.6779 -17.40215 18.40215 -338.549
129 1 -622.0888 -47.50298 48.50298 -290.046
130 1 -374.0821 -75.75181 76.75181 -213.2942
131 1 -75.69032 -99.61606 100.6161 -112.6781
132 1 251.5819 -116.7448 117.7448 5.06664
133 1 582.1697 -125.1813 126.1813 131.2479
134 1 888.3098 -123.5588 124.5588 255.8067
135 1 1142.228 -111.2602 112.2602 368.0669
136 1 1318.491 -88.52687 89.52687 457.5938
137 1 1396.34 -56.50235 57.50235 515.0961
138 1 1361.795 -17.2033 18.2033 533.2994
139 1 1209.354 26.58598 -25.58598 507.7134
140 1 943.089 71.49186 -70.49186 437.2216
141 1 577.025 113.793 -112.793 324.4285
142 1 134.6939 149.7098 -148.7098 175.7187
143 1 -352.1446 175.7199 -174.7199 0.998862
144 1 -845.577 188.8762 -187.8762 -186.8773
145 1 -1304.288 187.0999 -186.0999 -372.9772
146 1 -1686.804 169.4214 -168.4214 -541.3986
147 1 -1955 136.1458 -135.1458 -676.5444
148 1 -2077.569 88.92273 -87.92273 -764.4671
149 1 -2033.208 30.7075 -29.7075 -794.1746
150 1 -1813.154 -34.39165 35.39165 -758.7829
151 1 -1422.873 -101.375 102.375 -656.408
152 1 -882.6674 -164.708 165.708 -490.7
153 1 -227.0643 -218.7505 219.7505 -270.9495
154 1 497.0398 -258.2263 259.2263 -11.72319
155 1 1233.427 -278.6979 279.6979 267.9747
156 1 1920.622 -277.0052 278.0052 545.9799
157 1 2496.705 -251.629 252.629 798.6089
158 1 2904.529 -202.943 203.943 1002.552
159 1 3096.916 -133.3243 134.3243 1136.876
160 1 3041.404 -47.1017 48.1017 1184.978
161 1 2724.103 49.66426 -48.66426 1136.314
162 1 2152.261 149.565 -148.565 987.7487
163 1 1355.242 244.3708 -243.3708 744.3779
164 1 383.6883 325.6661 -324.6661 419.7118
165 1 -693.1675 385.549 -384.549 35.16282
166 1 -1791.978 417.3393 -416.3393 -381.1765
167 1 -2821.283 416.2361 -415.2361 -796.4126
168 1 -3688.652 379.8655 -378.8655 -1175.278
169 1 -4308.443 308.664 -307.664 -1482.942
170 1 -4609.568 206.0522 -205.0522 -1687.994
171 1 -4542.607 78.36856 -77.36856 -1765.363
172 1 -4085.627 -65.44823 66.44823 -1698.915
173 1 -3248.092 -214.4222 215.4222 -1483.492
174 1 -2072.426 -356.317 357.317 -1126.175
175 1 -632.884 -478.5783 479.5783 -646.5971
176 1 968.3481 -569.3737 570.3737 -76.2234
177 1 2607.72 -618.6497 619.6497 543.4263
178 1 4149.182 -619.1163 620.1163 1163.543
179 1 5454.776 -567.073 568.073 1731.616
180 1 6396.182 -462.9909 463.9909 2195.607
181 1 6866.312 -311.7859 312.7859 2508.392
182 1 6789.981 -122.7355 123.7355 2632.128
183 1 6132.667 90.98002 -89.98002 2542.148
184 1 4906.487 313.1018 -312.1018 2230.046
185 1 3172.672 525.4392 -524.4392 1705.607
186 1 1040.055 709.266 -708.266 997.341
187 1 -1340.57 846.8672 -845.8672 151.4738
188 1 -3786.088 923.1162 -922.1162 -770.6424
189 1 -6094.147 926.9499 -925.9499 -1696.592
190 1 -8058.866 852.6117 -851.6117 -2548.204
191 1 -9488.012 700.5371 -699.5371 -3247.741
192 1 -10220.32 477.7808 -476.7808 -3724.522
193 1 -10141.45 197.9162 -196.9162 -3921.438
194 1 -9197.269 -119.6263 120.6263 -3800.812
195 1 -7402.854 -450.7662 451.7662 -3349.046
196 1 -4846.483 -768.4648 769.4648 -2579.581
197 1 -1687.614 -1044.794 1045.794 -1533.787
198 1 1851.282 -1253.236 1254.236 -279.5512
199 1 5498.846 -1371.037 1372.037 1092.485
200 1 8954.157 -1381.415 1382.415 2474.9
201 1 11910.01 -1275.435 1276.435 3751.335
202 1 14078.48 -1053.347 1054.347 4805.683
203 1 15216.77 -725.2624 726.2624 5531.945
204 1 15151.15 -311.0288 312.0288 5843.974
205 1 13796.87 160.7155 -159.7155 5684.258
206 1 11172.02 654.3117 -653.3117 5030.947
207 1 7403.729 1129.574 -1128.574 3902.372
208 1 2725.514 1544.858 -1543.858 2358.514
209 1 -2534.469 1860.474 -1859.474 499.0408
210 1 -7974.158 2042.203 -2041.203 -1542.162
211 1 -13146.11 2064.605 -2063.605 -3605.767
212 1 -17592 1913.829 -1912.829 -5518.596
213 1 -20880.64 1589.662 -1588.662 -7107.259
214 1 -22646.58 1106.566 -1105.566 -8212.825
215 1 -22626 493.5547 -492.5547 -8705.38
216 1 -20686.52 -207.1747 208.1747 -8497.205
217 1 -16848.67 -942.8258 943.8258 -7553.379
218 1 -11295.2 -1653.683 1654.683 -5898.696
219 1 -4368 -2277.654 2278.654 -3620.042
220 1 3449.002 -2755.349 2756.349 -863.6935
221 1 11560.19 -3035.318 3036.318 2172.625
222 1 19300.34 -3079.009 3080.009 5252.634
223 1 25985.76 -2865 2865.995 8118.629
224 1 30970.86 -2392.081 2393.081 10511.71
225 1 33705.68 -1680.919 1681.919 12193.63
226 1 33789.71 -773.8975 774.8975 12968.53
227 1 31016.99 266.8193 -265.8193 12702.71
228 1 25408.18 1363.075 -1362.075 11340.63
229 1 17225.8 2426.147 -2425.147 8915.485
230 1 6970.151 3363.466 -3362.466 5553.019
231 1 -4645.295 4086.178 -4085.178 1467.841
232 1 -16738.31 4516.946 -4515.946 -3048.105
233 1 -28320 4597.372 -4596.372 -7644.476
234 1 -38370.71 4294.361 -4293.361 -11937.84
235 1 -45923.91 3604.828 -3603.828 -15541.67
236 1 -50152.27 2558.207 -2557.207 -18098.87
237 1 -50448.11 1216.397 -1215.397 -19314.27
238 1 -46491.38 -329.0457 330.0457 -18984.22
239 1 -38298.38 -1962.445 1963.445 -17020.78
240 1 -26245.56 -3551.994 3552.994 -13467.78
241 1 -11064.7 -4959.715 4960.715 -8507.069
242 1 6192.509 -6052.686 6053.686 -2453.383
243 1 24219.54 -6714.688 6715.688 4262.304
244 1 41546.62 -6857.298 6858.298 11120.6
245 1 56653.08 -6429.474 6430.474 17551.08
246 1 68092.29 -5424.68 5425.68 22976.76
247 1 74619.91 -3884.778 3885.778 26862.53
248 1 75314.4 -1900.111 1901.111 28763.65
249 1 69679.38 394.5131 -393.5131 28370.13
250 1 57717.55 2827.911 -2826.911 25543.22
251 1 39967.92 5204.301 -5203.301 20339.92
252 1 17500.35 7318.045 -7317.045 13022.87
253 1 -8135.291 8970.338 -8969.338 4053.537
254 1 -35004.42 9986.559 -9985.559 -5932.022
255 1 -60922.83 10232.89 -10231.89 -16163.91
256 1 -83623 9630.71 -9629.71 -25793.62
257 1 -100940 8167.396 -8166.396 -33960
258 1 -111003 5902.349 -5901.349 -39861.37
259 1 -112415 2967.358 -2966.358 -42827.73
260 1 -104407 -439.1363 440.1363 -42387.59
261 1 -86952.19 -4063.855 4064.855 -38322.74
262 1 -60819.78 -7616.029 7617.029 -30705.71
263 1 -27573.6 -10789.23 10790.23 -19915.48
264 1 10502.84 -13286.15 13287.15 -6628.334
265 1 50545.51 -14844.48 14845.48 8217.151
266 1 89308.91 -15261.79 15262.79 23479.94
267 1 123412.5 -14417.13 14418.13 37898.07
268 1 149617 -12287.4 12288.4 50186.47
269 1 165109.6 -8956.677 8957.677 59144.15
270 1 167773.9 -4617.099 4618.099 63762.25
271 1 156422 439.2976 -438.2976 63323.95
272 1 130964.4 5837.832 -5836.832 57487.12
273 1 92500.25 11146.73 -11145.73 46341.39
274 1 43313.06 15909.42 -15908.42 30432.97
275 1 -13233.62 19681.37 -19680.37 10752.6
276 1 -72900.4 22068.66 -22067.66 -11315.05
277 1 -130866 22765.13 -22764.13 -34079.18
278 1 -182090 21584.95 -21584 -55663.14
279 1 -221727 18487.35 -18486.35 -74149.49
280 1 -245549 13590.98 -13590 -87739.47
281 1 -250352 7175.808 -7174.808 -94914.28
282 1 -234302 -328.5157 329.5157 -94584.77
283 1 -197194 -8367.812 8368.812 -86216
284 1 -140594 -16301 16302.01 -69913.95
285 1 -67835.3 -23447.93 23448.93 -46465
286 1 16129.25 -29144 29145.02 -17320
287 1 105025.3 -32797.79 32798.79 15478.79
288 1 191690.2 -33946.45 33947.45 49426.24
289 1 268613.3 -32304.78 32305.78 81732.02
290 1 328545.6 -27802.56 27803.56 109535.6
291 1 365134.6 -20606.73 20607.73 130143.3
292 1 373528.8 -11125 11125.97 141269.3
293 1 350902.2 10.7545 -9.754503 141259.5
294 1 296845.1 11980.94 -11979.94 129279.6
295 1 213580.4 23833.89 -23832.89 105446.7
296 1 105972.7 34556.46 -34555.46 70891.25
297 1 -18686 43155.3 -43154.3 27736.94
298 1 -151112 48742.5 -48741.5 -21004.56
299 1 -280666 50618.73 -50617.73 -71622.29
300 1 -396157 48346.65 -48345.65 -119968