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Lec 14 Tuning PID Controllers

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24 views26 pages

Lec 14 Tuning PID Controllers

Uploaded by

محمود خالد
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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MT 323: Automatic Control (1)

MT 421: Automatic Control in


Mechanical Systems
Instructor. Gamal Abdelnasser

Lecture14 Tuning PID Controllers

Dr. Shuaiby Mohamed


Zeigler-Nichol’s First Method
(Step Response Method)
 This method applies if the response to a step input exhibits an S-shaped curve.
 Such step-response curves may be generated experimentally or from a dynamic
simulation of the plant.
Zeigler-Nichol’s First Method (Cont.)
(Step Response Method)
 This method applies if the response to a step input exhibits an S-shaped curve.
 Such step-response curves may be generated experimentally or from a dynamic
simulation of the plant.
Table-1
Zeigler-Nichol’s Second Method
(Frequency Response Method)
 In the second method, we first set 𝑇𝑖 = ∞ and 𝑇𝑑 = 0.
 Using the proportional control action only, increase Kp from 0 to a critical
value Kcr at which the output first exhibits sustained oscillations.

 If the output does not exhibit sustained oscillations for whatever value Kp
may take, then this method does not apply.
Zeigler-Nichol’s Second Method (Cont.)
(Frequency Response Method)

 Thus, the critical gain Kcr and the


corresponding period Pcr are determined.

Table-2
Tuning map for PID controllers

CL Response Rise Time Overshoot Settling Time S-S Error

Kp Decrease Increase Small Change Decrease

Ki Decrease Increase Increase Eliminate

Kd Small Change Decrease Decrease Small Change


Example

• For this system, the first method of Ziegler-Nichols does not apply but we
can apply the second method.

• Because the plant has an integrator, i.e. one of the poles lie at 𝑠 = 0, which
means that the plant dynamics will have oscillatory behavior.
Design Procedure for the second method of Ziegler-Nichols:

1. Find the critical gain 𝐾cr and the corresponding oscillatory


period 𝑃cr

2. Compute the parameters of the PID controllers from the


table of Ziegler-Nichols

3. Make fine tuning to improve the response


Step 1: Find 𝐾𝑐𝑟 and 𝑃𝑐𝑟

We can find 𝐾cr and 𝑃cr by different methods:

1. Analytical method (e.g., Routh criterion)

2. From simulation
Finding 𝐾𝑐𝑟 and 𝑃𝑐𝑟 using Routh criterion
 When PID controller is reduced to P-
controller, we obtain the closed-loop
transfer function as follows:

 The value of 𝐾𝑝 that makes the system marginally stable so that sustained
oscillation occurs can be obtained by use of Routh’s stability criterion.

 The characteristic equation for the closed-loop system is


Finding 𝐾𝑐𝑟 and 𝑃𝑐𝑟 using Routh criterion (Cont.)
• The characteristic equation

Then, the Routh array becomes as follows:

We find that sustained oscillation will occur if


𝐾𝑝 = 30 Thus, the critical gain is 𝐾cr = 30.
Finding 𝐾𝑐𝑟 and 𝑃𝑐𝑟 using Routh criterion (Cont.)
 The characteristic equation

the critical gain is 𝐾cr = 30.

 With 𝐾𝑝 set equal to 𝐾cr = 30, the characteristic equation becomes

 To find the frequency of the sustained oscillation, we substitute 𝑠 = 𝑗𝜔 into


this characteristic equation as follows:
Finding 𝐾𝑐𝑟 and 𝑃𝑐𝑟 using Routh criterion (Cont.)
 The critical gain is 𝐾cr = 30.

we substitute 𝑠 = 𝑗𝜔 into the characteristic equation:

 We find the frequency of the sustained oscillation to be 𝜔 = √5 Hence, the


period of sustained oscillation is
Step 1: Find 𝐾𝑐𝑟 and 𝑃𝑐𝑟

We can find 𝐾cr and 𝑃cr by different methods:

1. Analytical method (e.g., Routh criterion)

2. From simulation
Finding 𝐾𝑐𝑟 and 𝑃𝑐𝑟 from simulation

 Alternatively, The value of 𝐾𝑝 that makes the system marginally stable so that
sustained oscillation occurs can be obtained from simulation.

 We simply increase the value of 𝐾𝑝 until we get sustained oscillation. Then, we


directly measure from the plot the critical period of oscillation.
Finding 𝐾𝑐𝑟 and 𝑃𝑐𝑟 from simulation (Cont.)

s = tf('s');
Gp = 1/(s*(s+1)*(s+5)); % plant model
Gc = 30; % P-controller to find Kcr and Pcr from simulation
H = 1; % unity feedback system
TF = feedback(Gp*Gc, H);
step(TF)
title('Unit-Step Response')
Finding 𝐾𝑐𝑟 and 𝑃𝑐𝑟 from simulation (Cont.)
Design Procedure for the second method of Ziegler-Nichols:

 Find the critical gain 𝐾cr and the corresponding oscillatory


period 𝑃cr

2. Compute the parameters of the PID controllers from the


table of Ziegler-Nichols

3. Make fine tuning to improve the response


Step 2: Compute the parameters of PID controller
The critical gain is 𝐾cr = 30.

The period of sustained oscillation is

From the table of Ziegler-Nichols for the second method, we obtain the gains of
the PID cotroller as follows
Step 2: Compute the parameters of PID controller (Cont.)

The transfer function of the PID controller is thus


Step 2: Compute the parameters of PID controller (Cont.)

The PID controller has a pole at the origin and double zero at 𝑠 =– 1.4235.
% ---------- Unit-step response ----------
s = tf('s');
Gp = 1/(s*(s+1)*(s+5)); % plant model
Gc = 18*(1 + 1/(1.405*s) + 0.35124*s); % PID controller
H = 1; % unity feedback system
TF = feedback(Gp*Gc, H);
step(TF)
title('Unit-Step Response')
Step 2: Compute the parameters of PID controller (Cont.)

• The maximum overshoot in the unit-


step response is approximately
62%.The amount of maximum
overshoot is excessive. It can be
reduced by fine tuning the controller
parameters.
Design Procedure for the second method of Ziegler-Nichols:

 Find the critical gain 𝐾cr and the corresponding oscillatory


period 𝑃cr

Compute the parameters of the PID controllers from the table


of Ziegler-Nichols

3. Make fine tuning to improve the response


Step 3: Fine tuning

These values are approximately twice the


values suggested by the second method of
the Ziegler–Nichols tuning rule.
Project (10 marks)
 Pick a simple phyical system.
 Derive the mathematical model.
 Time domain analysis
 Design an appropriate controller for this system, for example: PI or PD or PID.
 Validate your design on simulation.
 Implement the controller on the hardware.
Any questions or
Comments?!

End of Lecture 14

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