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PID_Controllers_and_Tuning_Methods (1)

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5 views

PID_Controllers_and_Tuning_Methods (1)

Uploaded by

bhartisharma95185
Copyright
© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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PID Controllers and Tuning Methods

PID controllers are widely used in control systems to maintain a desired output by adjusting the process input based on
three terms: Proportional (P), Integral (I), and Derivative (D). These terms are used to compute the control action, which is
then applied to the system to minimize the error.

PID Controller Structure


The output of a PID controller is given by the following equation:
u(t) = K_p e(t) + K_i ∫_0^t e(τ) dτ + K_d de(t)/dt
Where:
u(t) is the control output.
e(t) = r(t) - y(t) is the error signal (difference between the reference r(t) and the output y(t)).
K_p, K_i, and K_d are the proportional, integral, and derivative gains, respectively.

Tuning of PID Controllers


Tuning a PID controller involves selecting appropriate values for K_p, K_i, and K_d to achieve optimal control performance.
Several methods can be used to tune PID controllers, including:

1. Ziegler-Nichols Method
The Ziegler-Nichols method is a popular empirical tuning method for PID controllers. It involves two approaches: Open-loop
method (for systems with no feedback) and Closed-loop method (for systems with feedback).

Closed-loop Ziegler-Nichols Method (Ultimate Gain Method)


1. Set the Integral and Derivative gains to zero (K_i = 0, K_d = 0).
2. Increase K_p until the system oscillates continuously. The value of K_p at which this occurs is called the ultimate gain
(K_u).
3. Measure the period of oscillation (T_u).
4. Using K_u and T_u, calculate the PID parameters using the following formulas:
- For P-controller:
K_p = 0.5 * K_u
- For PI-controller:
K_p = 0.45 * K_u, K_i = 1.2 * K_p / T_u
- For PID-controller:
K_p = 0.6 * K_u, K_i = 2 * K_p / T_u, K_d = K_p * T_u / 8

Open-loop Ziegler-Nichols Method


1. Run the system without feedback, and measure the system's response to a step input.
2. Plot the process reaction curve and identify the dead time (delay before the process responds) and the time constant
(time it takes to reach 63% of the final value).
3. Use the following formulas to calculate the PID parameters:
- For P-controller:
K_p = 1 / (K * θ)
- For PI-controller:
K_p = 1 / (K * (θ + T/2)), K_i = T / (θ * (θ + T/2))
- For PID-controller:
K_p = 1 / (K * θ), K_i = T / (θ * (T+θ)), K_d = θ / 2
2. Kuhn-Kohn Method
The Kuhn-Kohn method is a more advanced technique used for optimizing PID controller parameters in systems with
significant time delays or higher-order dynamics. It involves the optimization of the controller using mathematical
techniques, typically based on the frequency response of the system.

Steps for Kuhn-Kohn tuning


1. Analyze the open-loop transfer function of the system.
2. Plot the Bode plot and determine the gain crossover frequency (where the magnitude is 0 dB) and phase margin.
3. Adjust the PID parameters to achieve the desired phase margin and bandwidth, ensuring the system remains stable.
4. The method may use optimization algorithms or control design tools to fine-tune the parameters based on system
performance.

Comparison of Methods
The following table summarizes the key aspects of the Ziegler-Nichols and Kuhn-Kohn methods:
Method Type of System Advantages Disadvantages
Ziegler-Nichols Empirical, suitable Simple, fast, May lead to over- or
for most systems effective for many under-damping in
with feedback systems some cases
Kuhn-Kohn Advanced, suitable Provides optimized Requires more
for complex or performance for computation,
higher-order systems with delay specialized
systems or higher-order knowledge
dynamics

Time Proportional ON/OFF Controllers


Time Proportional ON/OFF controllers are simple control systems where the output is either fully ON or fully OFF,
depending on the control signal. The ON or OFF states are maintained for a period of time, hence the name time-
proportional.
The controller uses a setpoint value and an error signal to determine the time for which the output should be ON or OFF. It
works by comparing the error signal with a threshold and turning the system ON when the error exceeds a threshold and
OFF when the error falls below a certain level………The main formula for the ON/OFF controller is:
If e(t) > 0: u(t) = 1 (ON)
If e(t) <= 0: u(t) = 0 (OFF)

Proportional Controllers
Proportional (P) controllers apply a correction to the control input proportional to the error signal. This means that the
larger the error, the larger the control output, leading to a reduction in the error over time.
The proportional control law is given by:
u(t) = K_p e(t)
Where:
u(t) is the control output
e(t) is the error signal
K_p is the proportional gain
The proportional controller can be effective, but it can result in a steady-state error (the error does not fully reach zero).
Integral Controllers
Integral (I) controllers accumulate the error over time and apply a correction proportional to the accumulated error. This
helps eliminate the steady-state error that may remain in a proportional controller.
The integral control law is given by: u(t) = K_i ∫ e(t) dt
Where:
u(t) is the control output
e(t) is the error signal
K_i is the integral gain
The integral controller removes steady-state error, but it may lead to overshoot or instability due to the accumulation of
error over time.

Derivative Controllers
Derivative (D) controllers predict future error by measuring the rate of change of the error signal. This allows the controller
to anticipate the error and apply a correction before the error becomes too large, helping to improve stability and reduce
overshoot.
The derivative control law is given by:
u(t) = K_d (de(t) / dt)
Where:
u(t) is the control output
e(t) is the error signal
K_d is the derivative gain
The derivative controller improves the system's stability but may amplify high-frequency noise.

Proportional-Integral Controllers
Proportional-Integral (PI) controllers combine the features of both proportional and integral controllers. This allows the
controller to reduce steady-state error while maintaining some of the benefits of the proportional controller.
The PI control law is given by:
u(t) = K_p e(t) + K_i ∫ e(t) dt
Where:
u(t) is the control output
e(t) is the error signal
K_p is the proportional gain
K_i is the integral gain
The PI controller is useful for systems where eliminating steady-state error is important, but it doesn't always provide the
optimal response in systems requiring quick stabilization.

Proportional-Derivative Controllers
Proportional-Derivative (PD) controllers combine the proportional action with the derivative action. The derivative action
helps anticipate changes in error, while the proportional action responds to the magnitude of the error.
The PD control law is given by:
u(t) = K_p e(t) + K_d (de(t) / dt)
Where:,,,u(t) is the control output
e(t) is the error signal
K_p is the proportional gain
K_d is the derivative gain
The PD controller is effective for improving transient response and reducing overshoot, but it cannot eliminate steady-state
error.

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