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Pi EmpiricalTuningDigital

This document outlines the empirical tuning of digital PID controllers. It discusses using a simple first-order model with time delay to model processes and the tangent method for estimating model parameters. Ziegler-Nichols tuning rules are presented that relate controller parameters to model parameters for PID, PI, and P controllers. An example applies the tangent method to estimate a process model and designs a PID controller.

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Reza Ghanavati
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65 views4 pages

Pi EmpiricalTuningDigital

This document outlines the empirical tuning of digital PID controllers. It discusses using a simple first-order model with time delay to model processes and the tangent method for estimating model parameters. Ziegler-Nichols tuning rules are presented that relate controller parameters to model parameters for PID, PI, and P controllers. An example applies the tangent method to estimate a process model and designs a PID controller.

Uploaded by

Reza Ghanavati
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Outline

Empirical Tuning of Digital PID • Procedure for empirical tuning.


Controllers • Example

M. Sami Fadali
Professor EBME Dept.
University of Nevada, Reno

1 2

Empirical Tuning Effect of ZOH


• Analog PID controller transfer function:

=integral time constant


= derivative time constant. /

• Bilinear transformation (with pole at removed)


• Expand: model as time delay by

3 4
Plant Model Tangent Method
1. Obtain the step response experimentally.
• Use a simple first order model with time
delay 2. Draw a tangent at the inflection point.

3. Gain

4. Dead time = from time of step input to the
= process gain intersection of the tangent line with the time
=process (dominant) time constant axis plus .
5. = time interval between the step input
=(apparent) dead time of the process.
and the intersection of the tangent line with the
• For digital PID, add a delay of to . final steady-state output level.
5 6

Tangent Method
Alternatively

1 5. time interval between the step
0.8
input and the time when the process
output attains the 63.2% of its final value.
process output

0.6

KA
Note: If the dynamics of the process can be
0.4 perfectly described by a first-order-plus-
0.2
dead-time model, then the values of
obtained in the two cases are identical.
0
L 

-0.2
0 2 4 6 8 10 12 14
time
7 8
Ziegler-Nichols Tuning Rules Example
.
Process transfer function

Controller >> g=zpk([],[-1,-1,-1,-1],1,'inputdelay',0.2)


type zero/pole/gain:
_ _
P 1
_ exp(-0.2*s) * -------
PI
(s+1)^4
PID Estimate a first-order-plus-dead-time model of
the process and design a PID controller by
applying the Ziegler-Nichols tuning rules.
9 10

Block Diagram Apply tangent method

Load
Disturbance 1

Reference
Input  Digital PID  Output 0.8
GZAS(z)
Process Output

Controller

0.6 System: g
Time (seconds): 4.55
0.4 Amplitude: 0.632

0.2

0
0 2 4 6 8 10 12
11 Time (seconds) 12
Digital PID Controller Process Output PID Control

• Response due to a unit step input at and to a


unit step change in the control variable at time

13 14

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