Scribd
Upload
39 views22 pages

Chapter 6b Pid - Controller

Uploaded by

Muhammad ilham
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
39 views22 pages

Chapter 6b Pid - Controller

Uploaded by

Muhammad ilham
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 22

Tuning PID Controller

1. Introduction
- More than half of the industrial controllers in use today utilize
PID or modified PID control schemes.
- Many different types of tuning rules have been proposed in the
literature.
 Manual tuning on-site
 On-line automatic tuning
 Gain scheduling
- When the mathematical model of the plant is not known and
therefore analytical design methods cannot be used, PID
controls prove to be most useful.
2. Tuning PID controller

Figure 1. PID control of a plant.

Design PID control


- Know mathematical model
 various design techniques
- Plant is complicated, can’t obtain mathematical model
 experimental approaches to the tuning of PID controllers
1. Trial and Error Method
2. Ziegler-Nichols Rules
- Ziegler and Nichols proposed rules for determining values
of the proportional gain Kp, integral time Ti, and derivative
time Td based on the transient response characteristics of a
given plant.
- Such determination of the parameters of PID controllers or
tuning of PID controllers can be made by engineers on-site
by experiments on the plant.
- Such rules suggest a set of values of Kp, Ti, and Td that will
give a stable operation of the system. However, the
resulting system may exhibit a large maximum overshoot in
the step response, which is unacceptable.
- We need series of fine tunings until an acceptable result is
obtained.
2a. Ziegler-Nichols 1st Method of Tuning Rule
- We obtain experimentally the response of the plant to a unit-
step input, as shown in Figure 2.
- The plant involves neither integrator(s) nor dominant complex-
conjugate poles.
- 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.

Figure 2. Unit-step response of a plant.


L = delay time
T = time constant

Figure 3. S-shaped response curve.


Transfer function:

Table 1. Ziegler–Nichols Tuning Rule Based on Step Response of Plant


(First Method)
2b. Ziegler-Nichols 2nd Method
A. We first set Ti =  and Td = 0. Using the proportional control
action only (see Figure 4).

Figure 4. Closed-loop system with a proportional controller.


B. Increase Kp from 0 to a critical value Kcr at which the output
first exhibits sustained oscillations.

Figure 5. Sustained oscillation with period Pcr (Pcr is measured in sec.)


 Ziegler and Nichols suggested that we set the values of the
parameters Kp, Ti, and Td according to the formula shown in
Table 2.

Table 2. Ziegler–Nichols Tuning Rule Based on Critical Gain Kcr and


Critical Period Pcr (Second Method)
Figure 6. PID-controlled system.
Figure 7. Block diagram of the system with PID controller designed by use of the
Ziegler–Nichols tuning rule (second method).
Figure 8. Unit-step response curve of PID-controlled system designed by use of
the Ziegler–Nichols tuning rule (second method).
 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. Such fine tuning can be made on the computer. We
find that by keeping Kp = 18 and by moving the double zero of
the PID controller to s = -0.65, that is, using the PID controller

 See Figure 9
Figure 9 Unit-step response of the system shown in Figure 6 with PID controller
having parameters Kp = 18, Ti = 3.077, and Td = 0.7692.

You might also like