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Design of PID Controller For FOPTD Model

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20 views21 pages

Design of PID Controller For FOPTD Model

jhvbjkj

Uploaded by

Akash
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
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Design of PID Controller for FOPTD

Utilizing PSO and Ziegler-Nichols Method


First Order Plus Time Delay (FOPTD)

➢ The First Order Plus Dead Time (FOPDT) model is


another commonly used mathematical representation
in process control and system dynamics.
➢ It describes a system's behavior with a first-order
response, a time delay, and a dead time. The general
transfer function for a FOPDT system is given by:
where:
● G(s) is the transfer function in the Laplace domain,
● K is the process gain,
● L is the time delay,
● T is the time constant,
● D is the dead time, and
● s is the Laplace variable.
❖ In the time domain, the FOPDT model can be expressed by the following differential
equation:

Where:
● K is the process
● y(t) is the system
gain,
output, ● L is the time delay,
● u(t) is the system input, and
● T is the time constant, ● D is the dead time.
PID Controller
● PID (proportional integral derivative) controllers use a control loop
feedback mechanism to control process variables and are the most
accurate and stable controller.
● The proportional term brings an immediate correction based on the
current error.
● The integral term eliminates long-term steady-state errors by
continuously adjusting the output based on accumulated past
errors.
● The derivative term anticipates and counteracts rapid changes in
the error, contributing to system stability.
PID Equation:

where:
● u(t) is the control output, ● Ki is the integral gain,
● e(t) is the error (difference between
● Kd i​s the derivative gain.
setpoint and actual output),
● Kp is the proportional gain,
Ziegler-Nichols Methods

● The Ziegler-Nichols design methods are the most


popular methods used in process control to determine
the parameters of a PID controller.
● Record the system's response, including the ultimate
steady-state gain (Ku) and the ultimate period (Tu). Ku is
the highest gain before the system becomes unstable,
and Tu is the corresponding period of oscillation.
PID (Proportional-Integral-Derivative) Tuning:

❏ Proportional Gain (Kp):


Kp = 0.6 X Ku

❏ Integral Gain
(Ki):

Ki = (2 X Kp)/Tu
❏ Derivative Gain (Kd):

Kd = 0.125 X Ku
PSO Optimization

● PSO is a population-based optimization algorithm inspired by the


social behavior of birds or insects. It is a heuristic optimization
technique that mimics the collaborative behavior of a swarm to find
the optimal solution to a problem.
● PSO involves a population of particles, each representing a potential
solution in the search space.
● Particles adjust their positions based on their own best-known
solution and the global best-known solution within the swarm.
Objective:

● The goal is to converge towards the optimal solution, improving the


system's performance or achieving a specific objective.
● Extract the best-known position found by the algorithm as the
optimized PID parameters.
Simulation Results and Conclusion
Open loop response of FOPTD
Output response
Simulink diagram of close loop response of FOPTD using Ziegler-
Nichols Methods
PID parameter using Ziegler-Nichols Methods

Kp Ki Kd

0.2506 0.1803 0.2310


Output Response
Simulink diagram of close loop response of FOPTD using PSO Technique
PID parameters on using PSO

Kp Ki Kd

0.1821 0.1014 0.1799


Output Response
PID Ziegler-Nichols PSO
Kp 0.2506 0.1821

Ki 0.1803 0.1014

Kd 0.2310 0.1799
Conclusion
Comparison Ziegler-Nichols PSO
parameter
Overshoot may result in higher overshoot. aims to minimize overshoot.

Settling Time may have longer settling times. aims for a quicker and stable
settling.

Rise Time: may result in a shorter rise time. optimizes for a balanced and
controlled rise time.

Steady-State Error may have higher steady-state error. aims to minimize steady-state
error.

System Stability may result in oscillations and aims for stability by fine-tuning
instability. parameters.

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