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26 - PID - Controller - Part3

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30 views13 pages

26 - PID - Controller - Part3

Uploaded by

Mahmoud Essam
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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Course of

“Automatic Control Systems”


2022/23

PID controller:
Ziegler and Nichols tuning methods

Prof. Francesco Montefusco


Department of Economics, Law, Cybersecurity, and Sports Sciences
Università degli Studi di Napoli Parthenope
[email protected]
Team code: uxbsz19

Prof. Francesco Montefusco Automatic Control Systems 2022/23


Ziegler-Nichols tuning methods

ñ The Ziegler–Nichols tuning method is a heuristic method of tuning a PID


controller.

ñ Controller tuning is the process of determining the controller parameters which


produce the desired output.

ñ It allows the optimization of a closed loop performance and minimizes the error
between the variable of the process and its set point.

ñ The Ziegler-Nichols methods are trial and error method often used when the
mathematical model of the system is not available

ñ The Ziegler-Nichols methods can be used for both closed and open loop
systems

Prof. Francesco Montefusco 2 Automatic Control Systems 2022/23


Ziegler-Nichols closed loop method

ñ The Ziegler-Nichols closed loop method is a simple method of tuning PID


controllers by means of a number of tests carried out on the control system in
closed loop with the PID controller

ñ It can be used only with regularly stable systems: closed loop systems moving
toward the instability when the proportional gain increases

ñ Let us define ultimate gain 𝑲 ! 𝑷 the proportional gain which gives stable and
consistent oscillations for closed loop systems
! 𝑷 is found experimentally by starting from a small value of 𝐾" and adjusting
ñ 𝑲
upwards until consistent oscillations are obtained. The integral and derivative
actions are set to zero.
! 𝑷 is the ultimate
ñ Another important value associated with the ultimate gain 𝑲
period 𝑻 ! . The ultimate period is the time required to complete one full
oscillation while the system is at steady state

Prof. Francesco Montefusco 3 Automatic Control Systems 2022/23


Ziegler-Nichols closed loop method

Prof. Francesco Montefusco 4 Automatic Control Systems 2022/23


Ziegler-Nichols closed loop method

ñ The parameters, 𝑲𝑷 and !𝑻 are used to find the loop-tuning constants of the
controllers (P, PI, or PID)

Prof. Francesco Montefusco 5 Automatic Control Systems 2022/23


Ziegler-Nichols closed loop method: example

ñ Let us design a
ò Proportional (P) controller
ò Proportional-Integral (PI) controller
ò a Proportional-Integral-Derivative (PID) controller

for the closed loop system

PID Mechanical
Actuator
Controller system

Prof. Francesco Montefusco 6 Automatic Control Systems 2022/23


Ziegler-Nichols closed loop method: example

ñ The mechanical systems is a mass-friction-damper system

my(t ) + by (t ) + ky (t ) = u (t )
with 𝑚 = 1 Kg, 𝑘 = 25 N/m, 𝑏 = 20 Ns/m .

ñ The actuator is modelled with a first order system in the form

f (t ) + 50 f (t ) = 50u (t )

ñ The P, PI and PID controllers have been tuned with the Ziegler-Nichols
closed loop method

Actuator Mechanical
system

Prof. Francesco Montefusco 7 Automatic Control Systems 2022/23


Ziegler-Nichols closed loop method: example
Performance

P-controller

§ No-null steady state error

§ Overshoot 𝑠 ≅ 15%

PI-controller

§ Null steady state error

§ Overshoot 𝑠 ≅ 20% with a slow


oscillating response

PID-controller

§ Null steady state error

§ Overshoot 𝑠 ≅ 13% with fast response


Prof. Francesco Montefusco 8 Automatic Control Systems 2022/23
Ziegler-Nichols closed loop method: example
Control signal

P-controller

§ Control input peak =60

§ Slow oscillations

PI-controller

§ Control input peak =60 TUNING


REFINEMENT
§ Fast oscillations IS NECESSARY

PID-controller

§ Control input peak =1200

§ NO oscillations

Prof. Francesco Montefusco 9 Automatic Control Systems 2022/23


Ziegler-Nichols open loop method

ñ The Ziegler-Nichols open-loop method is also referred to as a process reaction


method, because it tests the open-loop reaction of the process to a change in
the control variable output.

ñ The Ziegler-Nichols open loop method can be applied on processes whose


step response doesn’t oscillate.

ñ To use the Ziegler-Nichols open-loop tuning method, you must perform the
following steps:
ò Evaluate the open loop unitary step response of the process
ò From the process reaction curve, determine
§ the transportation lag or dead time 𝑻,
§ the equivalent time constant 𝝉
§ the steady state value 𝑮 of the a step response

Prof. Francesco Montefusco 10 Automatic Control Systems 2022/23


Ziegler-Nichols open loop method

Line tangent to
the step response
at the point of
inflection

Prof. Francesco Montefusco 11 Automatic Control Systems 2022/23


Ziegler-Nichols open loop method

Dead time 𝑻: time interval defined by the intersection of the line tangent to the
step response at the point of inflection and the time-axis

Equivalent time constant 𝝉: Time interval from 𝑇 to the intersection of the line
tangent to the step response at the point of inflection and the line indicating the
steady-state value 𝐺

Prof. Francesco Montefusco 12 Automatic Control Systems 2022/23


Ziegler-Nichols open loop method

ñ The parameters, 𝑻, 𝝉 and 𝑮 are used to find the loop-tuning constants of the
controllers (P, PI, or PID)

Prof. Francesco Montefusco 13 Automatic Control Systems 2022/23

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