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ZN Method

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4 views6 pages

ZN Method

ggjhbgkh

Uploaded by

Akash
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Ziegler-Nichols Tuning:

 In 1942 Ziegler and Nichols, both employees of Taylor Instruments,


described simple mathematical procedures, the first and second
methods respectively, for tuning PID controllers.

 These procedures are now accepted as standard in control systems


practice. Both techniques make a priori assumptions on the system
model, but do not require that these models be specifically known.
Ziegler-Nichols formulae for specifying the controllers are based on
plant step responses.

1
The First Method

The first method is applied to plants with step responses of the form
displayed in Figure 4. This type of response is typical of a first order
system with transportation delay, such as that induced by fluid flow
from a tank along a pipe line.

It is also typical of a plant made up of a series of first order systems. The


response is characterized by two parameters, L the delay time and T the
time constant. These are found by drawing a tangent to the step response
at its point of inflection and noting its intersections with the time axis
and the steady state value.

The plant model is therefore:

2
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4
Second Method

The second method targets plants that can be rendered unstable under
proportional control. The technique is designed to result in a closed loop
system with 25% overshoot. This is rarely achieved as Ziegler and Nichols
determined the adjustments based on a specific plant model.

The steps for tuning a PID controller via the 2nd method is as follows:
Using only proportional feedback control:
 1. Reduce the integrator and derivative gains to 0.
 2. Increase Kp from 0 to some critical value Kp=Kcr at which sustained
oscillations occur. If it does not occur then another method has to be
applied.
 3. Note the value Kcr and the corresponding period of sustained
oscillation, Pcr

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