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Solution: K K Ks S Ss S

The document describes designing a PID controller for two different unity feedback control systems using the Ziegler-Nichols tuning method. For the first system, the method determines the PID gains as KP=50.4, KI=95.094, KD=13.356. For the second system, the gains are calculated to be KP=78.78, KI=68.5, KD=22.65.

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Kthiha Cn
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71 views3 pages

Solution: K K Ks S Ss S

The document describes designing a PID controller for two different unity feedback control systems using the Ziegler-Nichols tuning method. For the first system, the method determines the PID gains as KP=50.4, KI=95.094, KD=13.356. For the second system, the gains are calculated to be KP=78.78, KI=68.5, KD=22.65.

Uploaded by

Kthiha Cn
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 DOCX, PDF, TXT or read online on Scribd
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1.

A unity feedback control system shown in figure-1 has the process below, design a PID
controller
by using Ziegler-Nichols turning method. [15
marks]

Solution
PID controller G(s)
R(s) K 5 Y(s)
+- KP  I  KD s
s s ( s  5)( s  7)

Figure-1 : A unity feedback control system


The characteristic equation of the system is 1+KG(s) = 0
5
1  KU 0
s( s  5)( s  7)
s 3  12s 2  35s  5KU  0
Routh array
s3 1 35
s2 12 5KU
12  35  5KU
s1 0
12
s0 5KU

12  35  5KU , 5KU  0
 0
12  KU  0
KU  84
 KU  84

Auxiliary equation is 12s +5KU  0


2

12s 2  420
s   j 35   j
  35
TU  2
2
TU   1.06 seconds
35
The gains of PID Controller by Ziegler-Nichols method are
K P  0.6 KU  0.6  84  50.4
1.2 KU 1.2  84
KI    95.094
TU 1.06
1.2 KU TU 1.2  84  1.06
KD    13.356
8 8
Ans : the gains of PID Controller, K P  50.4, K I  95.094, K D  13.356

. A unity feedback control system shown in figure-1 has the process below, design a PID
controller by using Ziegler-Nichols turning method.
PID controller G(s)
R(s) K 10 Y(s)
+- KP  I  KD s
s s ( s  10)( s  7.5)

Figure-1 : A unity feedback control system


[15 marks]
10
1  KU 0
The characteristic equation of the system is s( s  10)( s  7.5)
s 3  17.5s 2  75s  10 KU  0
Routh array
s3 1 75
s2 17.5 10KU
17.5  75  10KU
s1 0
17.5
s0 10KU

17.5  75  10KU , 10KU  0


 0
17.5  KU  0
KU  131.2566
 KU  131.3

Auxiliary equation is 17.5s +10KU  0


2

17.5s 2  1313
s   j 7.5   j
  7.5
TU  2
2
TU   2.3 seconds
7.5
The gains of PID Controller by Ziegler-Nichols method are
K P  0.6 KU  0.6  131.3  78.78
1.2 KU 1.2 131.3
KI    68.5
TU 2.3
1.2 KU TU 1.2 131.3  2.3
KD    22.65
8 8

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