# PID controller

If the parameter Yaw scheme of the RNA part is set to PID controller, the yaw angle of the nacelle will be controlled by the yaw actuator part with the following parameters:

## PID tuning

### Reference torque

The reference torque that the yaw actuator will apply at the root of the yaw bearing. This value is multiplied by the output of the PID.

• Default value: 500000
• Unit: $\text{N}\cdot\text{m}$
• Range: 0 — 1e+06

### Proportional gain

The factor that the yaw error will be multiplied by when computing the yaw actuator torque.

• Default value: 1
• Unit: ${1} \over {\text{rad}}$
• Range: -1e+06 — 1e+06

### Integral gain

The factor that the integral of the yaw error will be multiplied by when computing the yaw actuator torque.

• Default value: 2
• Unit: ${1} \over {\text{rad}\cdot\text{s}}$
• Range: -1e+06 — 1e+06

### Derivative gain

The factor that the time derivative of the yaw error will be multiplied by when computing the yaw actuator torque.

• Default value: 0.25
• Unit: ${\text{s}} \over {\text{rad}}$
• Range: -1e+06 — 1e+06

Note: for the RNA only template, if the Configuration parameter of the RNA  part is set to No nacelle frame, the Yaw scheme will behave as Fixed even if set to PID controller.