README

This controller tuning tool can be used to determine PID controller settings. The tool is a result of different TETRA-
projects (AmoCAD, OptiMotion, OptiFlex, ...) and the control engineering coursetext of prof. Stijn Derammelaere.

WHAT CAN THE TOOL BE USED FOR?

• P(I)(D) controller tuning based on system identification in the frequency domain

• P(I)(D) controller tuning based on a relay-feedback experiment
• Conversion between textbook and parallel P(I)(D) structure
• Notch filter tuning for electrically driven flexible drivelines

Details
While the tool is developped based on motion control applications the P(I)(D) controller tuning methods and especially
sheet 1. 2. and 6. are usable for all kinds of applications.

FEATURES
• None of the tuning requires a mathematical model, everything is based on easy obtainable measurements
• Easy commissioning - No dependencies outside Excel.
• No VBA-macros - Ensures compability and easy understanding.
• Various optimization objectives - Supports single and multi-objective optimizations.

SHEETS
• 1.Relay Feedback - contains the relay feedback controller tuning method and formulas based on [1]
• 2.Phase Margin - Generally applicable based on a bode plot [2]
• 3.Antiresonance - Applicable on systems with an (anti-)resonance frequency as typicall in drivelines with flexiblities [3]
• 4.Including Notch Filter - Method focussed on speed control of flexible drivelines [4]
• 5.Notch Filter - Tuning of a notch filter for speed control of flexible drivelines, including notch filter programming [4]
• 6.Conversion between parallel and textbook controller structure

DOCUMENTATION
Most sheets should be self-explanatory. More details about the underlying mathematical operations can be found in the

PLANNED UPDATES
The following new features/updates are planned and under development:
• Adaptive notch filter and PID settings for position varying inertia's, …

CONTRIBUTE
Contributions are welcome! Feel free to reach out if you want to report bugs or implement new features.
 Contact: [email protected]

REFERENCES
[1] Hägglund, T. and Åström, K.J., 1991. Industrial adaptive controllers based on frequency response
techniques. Automatica, 27(4), pp.599-609.

[2] Cursus Regeltechniek, prof. dr. Stijn Derammelaere, beschikbaar via Universitas
(http://www.cursusdienst.be).

[3] Van Oosterwyck, N., Vanbecelaere, F., Haemers, M., Ceulemans, D., Stockman, K. and Derammelaere, S.,
2019, July. CAD Enabled Trajectory Optimization and Accurate Motion Control for Repetitive Tasks. In 2019
IEEE 15th International Conference on Control and Automation (ICCA) (pp. 387-392). IEEE.
[4] Ramos Garces, S., Ben Yahya, A., van Oosterwyck, N., Jacques, D. and Derammelaere, S., 2022. Bode-
based speed Proportional Integral and notch filter tuning of a Permanent Magnet Synchronous Machine
driven flexible system. arXiv e-prints, pp.arXiv-2202.

© 2022 University of Antwerp & Ghent University campus Kortrijk

 result of different TETRA-
rof. Stijn Derammelaere.

r tuning methods and especially

nable measurements

as based on [1]

all in drivelines with flexiblities [3]

ng notch filter programming [4]

cal operations can be found in the references.

ment new features.

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Link

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nd Derammelaere, S.,
titive Tasks. In 2019 Link
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e, S., 2022. Bode-
hronous Machine Link

Ghent University campus Kortrijk

Relay Feedback
Adjust only the cells in grey!

Input
d [Output] 2
a [Input] 0.5
Tc [s] 0.002

P Controller
Kp [Output/Input] 2.546479

PI Controller
Ti [s] 0.00166
Kp [Output/Input] 2.291831

PID Controller
Kp [Output/Input] 3.055775
Ti [s] 0.001
Td [s] 0.00025
Phase Margin
Adjust only the cells in grey!

P Controller

fPM [Hz] 5
IGIf=fpm [dB] 26

Kp [Output/Input] 0.050119

PI Controller

fPM [Hz] 5
IGIf=fpm [dB] 26

Ti [s] 0.055068
Kp [Output/Input] 0.043401

PID Controller
 fPM [Hz] 5
IGIf=fpm [dB] 26

Ti [s] 0.127324
Td [s] 0.031831
Kp [Output/Input] 0.043401
Anti Resonance
Adjust only the cells in grey!

Input
fPM [Hz] 147
IGIf=fpm [dB] 35

P Controller
Kp [Output/Input] 0.017783

PI Controller
Ti [s] 0.001873
Kp [Output/Input] 0.015399

PID Controller
Ti [s] 0.004331
Td [s] 0.001083
Kp [Output/Input] 0.015399
Including Notch Filter
Adjust only the cells in grey!

Input
f(AM+10) [Hz] 38.14
Af(AM+10) [dB] 10.3
jf(AM+10) [°] -81.3
jPMdes [°] 70

P Controller
Kp [Output/Input] 0.305492

PI Controller
Ti [s] 0.007622
Kp [Output/Input] 0.2680
Notch Filter program
Adjust only the cells in grey!

System properties Notch Properties

fr [Hz] 451 fN [Hz] 451
Ar [dB] 24.6 BW [Hz] 451
far [Hz] 215 Nd [dB] 28.8
Aar [dB] -33 Ts [s] 0.000125

Q 1
D 0.0181539027
depth 27.542287033
a0 1
a1 -1.8638549966
a2 0.9872215923
b1 -1.5971685894
b2 0.701724381
k 0.8475210892

𝑢[𝑘]=𝐴∙𝑟[𝑘]+𝐵∙𝑟[𝑘−1]+𝐶
 Notch Filter
= 1 *fr [1..2]
𝐵𝑊
𝑁_
𝑑

𝑓
_
𝑁

+𝐵∙𝑟[𝑘−1]+𝐶∙𝑟[𝑘−2]−𝐷∙𝑢[𝑘−1]−𝐸∙𝑢[𝑘−2]
A 0.847521
B -1.579656
C 0.836691
D -1.597169
E 0.701724
Textbook / Parallel conversion
Adjust only the cells in grey!

Textbook to Parallel
Kp [Output/Input] 0.054246 Kp [Output/Input] 0.05424613147
Ti [s] 0.00093 Ki [Output/(s Input)] 58.3291736266
Td [s] 0.000233 Kd [(s Output)/Input] 1.26122256E-05

Parallel to Textbook
Kp [Output/Input] 0.054246 Kp [Output/Input] 0.05424613147
Ki [Output/(s Input)] 58.32917 Ti [s] 0.00093
Kd [(s Output)/Input] 1.261E-05 Td [s] 0.0002325