6 PID Control Tuning Method
6 PID Control Tuning Method
Tuning Methods of
PID Controller
Hamid
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Session Outlines & Objectives
Outlines
:
◦ Ziegler-Nichols Open-loop
◦ Coon-Cohen Open-loop
◦ Ziegler-Nichols Closed-loop
◦ Lambda Tuning
◦ Visual Loop Tuning
◦ Autotuning
Objectives
Know the meaning of controller tuning
Be able to use several PID tuning methods and
choose the right tuning methods for specific
process control application 2
Introduction (1)
Controller tuning
A systematic-adjusting procedure of the
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Introduction (2)
Performance criteria for closed-loop systems
Stable
Minimal effect of disturbance
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Introduction (3)
How do we know when it’s tuned?
The process didn’t blow up
The process variable value (=measurements)
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Introduction (4)
The Problem
We have the knowledge about the effect of each PID
modes to closed-loop response
But, from what values of P, I and D modes we would
pick to start to tune?
The Solutions
If you have tuned the process before, use slightly
different values of the old PID controller parameter
If the results are still not satisfy you, use a PID
controller tuning method that we will learn just in a
moment that is most suit to your process control
application. Keep watch on …
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Introduction (5)
General Tuning Procedure
◦ Before tuning, FAMILIARIZE with the OPERATION RISK
◦ Get help with experienced operators, explain your
work to him and tell him that NO PERMISSION IS
REQUIRED if their intervention is NECESSARY to save
the loop if things go wrong
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Introduction (6)
Precaution:
All kinds of tuning method should be used for
initial setting and fine tuning should be done!!!
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Cohen-Coon Open-loop Tuning Method (1)
Proposed in 1953 by G. H.
Cohen and G. A. Coon1
CO
Main principles:
1 t Td
P only K 1 + 3t - -
Td
1 t Td 30 + 3Td /t
PI K 0.9 + 12t Td -
Td 9 + 20Td /t
1 t 4 Td 32 + 6Td /t 4
PID K 3 + 4t Td Td 11 + 2T /t
Td 13 + 8Td /t d
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Ziegler-Nichols
Open-loop Tuning Method (1)
Proposed in 1942 by J. G. Ziegler and N. B. Nichols of
Taylor Instruments (now part of ABB instrumentation in
Rochester, N.Y.) 2
It is done in manual mode
It is a way of relating the process parameters (i.e. delay
time, process gain and time constant) to the controller
parameters (i.e. controller gain and reset time)
It has been developed for use on delay-followed-by-
first-order-lag processes
J. G. Ziegler and N. B. Nichols, Optimum Setting for Automatic Controllers, Trans. ASME,Vol. 64, pp.
2)
759-768, 1942.
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Ziegler-Nichols
Open-loop Tuning Method (2)
The Procedure
1. Put the control system in MANUAL (without feedback)
2. Adjust the controlled system manually to the desired
operating point (start-up control loop)
3. Apply manually a STEP change of the controller output
(CO) (usually 5 – 10 % or depending of your process
gain)
4. Wait until the process variable (PV) is settled at
steady-state condition
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Ziegler-Nichols
Open-loop Tuning Method (3)
5. Determine process parameter (delay time, process
gain and time constant) from the graphics
P
CO OUTPUT LEVEL
TEMPERATURE
PV
R
L
TD
TIME
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Ziegler-Nichols
Open-loop Tuning Method (4)
6. Once the value of process parameter are obtained, the
PID parameter can be calculated from the following
table
Controller P (Kc) Im D
P only
1 t - -
K Td
0.9 t
PI K Td
0.33 Td -
1.2 t
PID K Td
2 Td 0.5 Td
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Ziegler-Nichols
Closed-loop Tuning Method (1)
Proposed in 1942 by J. G. Ziegler and N. B. Nichols of
Taylor Instruments (now part of ABB instrumentation in
Rochester, N.Y.)
Also known as continuous cycling or ultimate gain
methods
It has been developed for use on delay-followed-by-
first-order-lag processes
It has been refined for other specific process control
objectives
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Ziegler-Nichols
Closed-loop Tuning Method (2)
The Procedure
1. At the controller, select proportional-only (P-ONLY) control, i.e.
set P to the lowest value (PB to the highest value) and Im to
infinity (Ir to zero) and D to zero (smallest possible influence of
the controller)
2. Adjust the controlled system manually to the desired operating
point (start-up control loop)
3. Set the manipulated variable of the controller to the manually
adjusted value (reset bias b) and switch to automatic operating
mode
4. Continue to gradually increase P (decrease PB) until the
controlled variable encounters harmonic oscillation. If possible,
small step changes in the setpoint should be made during the P
adjustment to cause the control loop to oscillate
5. Take down the adjusted P value as critical proportional-action
coefficient Pcrit
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Ziegler-Nichols
Closed-loop Tuning Method (3)
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Ziegler-Nichols
Closed-loop Tuning Method (4)
Controller P Im D
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Ziegler-Nichols
Closed-loop Tuning Method (5)
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Ziegler-Nichols
Closed-loop Tuning Method (6)
Examples
4e-3.5s Pc = 0.95
Gp(s) =
7s+1 tc = 12
Controller P Im D
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Ziegler-Nichols
Closed-loop Tuning Method (6)
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Ziegler-Nichols
Closed-loop Tuning Method (7)
the tests
Continuous cycling may cause the violation of
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Lambda Tuning (2)
1st Order Process with Dead Time
Procedure:
Manually, bump the CO then observe the PV
m
0.283Dy
• Process time constant:
tp = 1.5(T2 – T1)
0.632Dy
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Lambda Tuning (3)
t p td
• Derivative action: D =
2 tp + td
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Lambda Tuning (4)
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Visual Loop Tuning (1)
Problems
The loop is
PVm PVm
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Visual Loop Tuning (2)
Apparent Instability PVm
The loop oscillates SP
◦ Because of excessive feedback, or
◦ Of being perturbed periodically by
another process
Procedure:
◦ Put the loop in manual (if it is safe to do so)
◦ In manual mode, the process appears to settle down
poorly tuned
Tuning problems:
◦ Is the oscillation caused by too much or too little
gain/integral/ derivative or their combinations?
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Visual Loop Tuning (3)
Apparent Instability (contd.)
Tuning procedure:
◦ Self-regulating Processes
If the value of I (min/repeat) is less than half of the oscillation period
m t
First, Increase the value of Im
If the value of Im (min/repeat) is longer than the oscillation period, it is safe to decrease the gain ( P)
t
SP SP
PVm PVm
Apparently unstable response Increasing the value of Lowering the gain (P)
Im (min/repeat)
◦ Non Self-regulating Processes
Use the longest value of Im (min/repeat) as much as possible or completely remove the integral action. If the problem
persists, then lowering the gain (P)
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Visual Loop Tuning (4)
Sluggish Response
Common causes:
SP
◦ The loop usually has no
derivative action PVm
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Visual Loop Tuning (5)
Sluggish Response (contd.)
Tuning procedure:
1. Adjusting Gain
Set the Im as longest as possible and set D to zero.
Place the controller in manual mode, then step out the
CO at a reasonable value
Immediately put the controller back in auto mode. Watch
the process response to know what the controller action
PVm PVm PVm
does
Repeat the process until we get one cycle of process
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Visual Loop Tuning (6)
Sluggish Response (contd.)
Tuning procedure:
2. Adjusting Integral Action
Place the controller in manual mode, shorten the value of
Im, then step out the CO at a reasonable value
Immediately put the controller back in auto mode. Watch
the process response to know what the controller action
does
PVm original
Repeat the process until
PVm we get the PVm ramps back to
PVm original
SP SP
setpoint about half as fast as it moved away from
SP PVm
setpoint form theToCO
Response with reasonable gain
step
little I Reasonable Im
(swinging in one cycle) (swingingm at setpoint)
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Visual Loop Tuning (7)
Tuning map for gain (P) and reset effect (Im)
No reset Increasing reset Fast reset
(small repeat/min) (integral) action (more repeat/min)
(large min/repeat) (less min/repeat)
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Visual Loop Tuning (8)
The Effect of Adding Derivative
a) Best tuning
achieved with b) Too little derivative
proportional and
integral modes only
c) Derivative added
gain increased d) Too much derivative
integral action faster
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What is Autotuning?
Autotuning (also known as self-tuning) is a
feature supplied by many controller, PLC and
DCS vendors that allows the controller to
“tune itself”
It minimize the task of a control engineer in
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Why Autotuning?
The process is nonlinear or operated under
widely varying conditions
Need various combination of tuning parameters
for different operating condition can be also
accomplished by using operator’s log
The process characteristic change rapidly
Frequent manual changing of the tuning
parameters can not be expected to be able to
produce satisfactory results
The end user doesn’t have the knowledge or
experience for successful manual tuning
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Autotuning Categories
A variety of autotuning techniques found on
the market:
Scheduled tuning
On-demand tuning
On-line tuning
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Scheduled Tuning (1)
Merely, an automation of the “operator’s log”
concept
◦ The users have to provide the correct value either
by means of a table look-up or a user-written
program
Tuning parameters are changed automatically
as operating points change
No assessing and modifying of the controller
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Scheduled Tuning (2)
From
table look-up or
user-written program
PVm
PID controller
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