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Ziegler Nichols Pid Tuning Mehods

The document describes two methods for tuning PID controllers using the Ziegler-Nichols approach: the open loop tuning rule and closed loop tuning rule. The open loop method uses step test data to determine process parameters like time constant and gain, which are then used to calculate PID parameters based on formulas and a table given. The closed loop tuning rule involves adjusting controller gain during a setpoint step test until stable oscillations occur, then using the ultimate gain and oscillation period to select PID parameters according to a second table provided.

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135 views2 pages

Ziegler Nichols Pid Tuning Mehods

The document describes two methods for tuning PID controllers using the Ziegler-Nichols approach: the open loop tuning rule and closed loop tuning rule. The open loop method uses step test data to determine process parameters like time constant and gain, which are then used to calculate PID parameters based on formulas and a table given. The closed loop tuning rule involves adjusting controller gain during a setpoint step test until stable oscillations occur, then using the ultimate gain and oscillation period to select PID parameters according to a second table provided.

Uploaded by

LQ530
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ZIEGLER NICHOLS PID

TUNING MEHODS

1. OPEN LOOP TUNING RULE :


1.1. Introduction :
The open loop method allows to calculate PID parameters from the process parameters.
The process reaction curve is an approximate model of the process, assuming the
process behaves as a first order plus deadtime system. The process reaction curve is
identified by doing an open loop step test of the process and identifying process model
parameters.
1.2. Procedure:

Step 1: Make an open loop plant test (e.g. a step test, but note that the step must be
big enough to see a significant change in the process value. A rule of thumb is the
signal to noise ratio should be greater than 5).

Step 2: Determine the process parameters: Process gain, deadtime, time constant
(see below: draw a tangent through the inflection point and measure and as
shown).

Step 3: Calculate the parameters according to the following formulas and table (next
page) :
K = the process gain K =

change in process value


change in manipulated value

1/2

Type
P

Kd
1

K

Ti

Td

0.9

3.33
K
1.2

PID
2.0
0.5
K
Recommanded range of applicability 1.0 < (/) < 0.1

PI

2. CLOSED LOOP TUNING RULE :


Ziegler-Nichols closed loop tuning is based on stability margins. To identify process
parameters:

Step 1: Disable any D and I action of the controller (--> pure P-controller)

Step 2: Make a setpoint step test and observe the response

Step 3: Repeat the etpoint test with increased / decreased controller gain until a
stable oscillation is achieved. This gain is called the "ultimate gain" Ku.

Step 4: Read the oscillation period Tosc.

Step 5: Calculate the parameters according to the following table :


Type
P
PI
PID

Kd
0.5Ku
0.45Ku
0.6Ku

Ti

Td

Tosc
1.2
Tosc
2.0

Tosc
8.0

2/2

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