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Tuning for PID Controllers

The document outlines various methods for tuning PID controllers, including Ziegler-Nichols and Cohen-Coon techniques, emphasizing the importance of selecting appropriate methods for specific control applications. It discusses performance criteria for closed-loop systems and provides general procedures for tuning, highlighting the need for familiarity with operational risks. Additionally, it covers the advantages and disadvantages of different tuning methods, along with examples to illustrate the tuning process.

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Obed Rockson
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© © All Rights Reserved
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Download as PPTX, PDF, TXT or read online on Scribd
2 views

Tuning for PID Controllers

The document outlines various methods for tuning PID controllers, including Ziegler-Nichols and Cohen-Coon techniques, emphasizing the importance of selecting appropriate methods for specific control applications. It discusses performance criteria for closed-loop systems and provides general procedures for tuning, highlighting the need for familiarity with operational risks. Additionally, it covers the advantages and disadvantages of different tuning methods, along with examples to illustrate the tuning process.

Uploaded by

Obed Rockson
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Tuning for PID

Controllers
Outlines
1. Tuning methods of PID controller:
• Ziegler-Nichols Open-loop
• Coon-Cohen Open-loop
• Ziegler-Nichols Closed-loop
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
Introduction
Controller tuning
• A systematic-adjusting procedure of the controller parameters to obtain a
desired performance of the control system
PID control tuning
• It is a matter of selecting the right mix of P, I, and D action to achieve a desired
performance
Introduction
Performance criteria for closed-loop systems
• Stable
• Minimal effect of disturbance
• Rapid, smooth response to set point change
• No offset
• No excessive control action
• Robust to plant-model mismatch
Trade-offs in control problems
• Set point tracking vs. disturbance rejection
• Robustness vs. performance
Introduction
How do we know when it’s tuned?
• The process didn’t blow up
• The process measurements stay close enough to the setpoint
• Boss says OK, and you can go home
• You buy a new controller which has different PID algorithm
Introduction
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
Precaution:
• All kinds of tuning method should be used for initial setting and fine tuning should be
done!!!
Cohen-Coon Open-loop Tuning Method (1)
• Proposed in 1953 by G. H. Cohen
and G. A. Coon co

• Main principles:
• The process output is affected not only
by the dynamics of the main process but
also by the dynamics of the measuring
sensor and final control element
• They observed that the response of most
processing unit to an input change had a
sigmoidal shape
Cohen-Coon Open-loop Tuning Method (2)
• Main principles: (contd.)
• The sigmoidal shape can be adequately approximated by the response
of a first order system with dead time

where

S is the slope of the sigmoidal


response at the point of inflection
Cohen-Coon Open-loop Tuning Method (3)
• Once the value of process parameter are obtained, the PID parameter can be
calculated from the following table
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.)
• 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-firstorder-lag
processes
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
Ziegler-Nichols
Open-loop Tuning Method (3)
5. Determine process parameter (delay time, process gain and time
constant) from the graphics
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
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
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 t he 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
Ziegler-Nichols
Closed-loop Tuning Method (3)
The Procedure
6. Determine the time span for one full oscillation amplitude as tcrit, if
necessary by taking the time of several oscillations and calculating their
average
Ziegler-Nichols
Closed-loop Tuning Method (4)
The Procedure
7. Once the value for Pcrit and are obtained, the PID parameter can be
calculated from the following table
Ziegler-Nichols
Closed-loop Tuning Method (5)
Ziegler-Nichols
Closed-loop Tuning Method (6)
• Example 1
Ziegler-Nichols
Closed-loop Tuning Method (6)
Advantages of continuous cycling method
• No a priori information on process required
• Applicable to all stable processes
• Only a single experimental test is needed
• It does not require trial and error
• The controller settings are easily calculated
Ziegler-Nichols
Closed-loop Tuning Method (6)
Disadvantages of continuous cycling method
• Time consuming
• Loss of product quality and productivity during the tests
• Continuous cycling may cause the violation of process
limitation and safety hazards
• Not applicable to open-loop unstable process
• First-order and second-order process without time delay will
not oscillate even with very large controller gain
Worked Example 2
Consider the control system shown in Figure 8–6 in which a PID controller is used
to control the system. The PID controller has the transfer function

Solution:
Since the plant has an integrator, we use the second method of Ziegler–Nichols
tuning rules. By setting and we obtain the closed-loop transfer function as
follows:
Worked Example 1

The value of Kp that makes the system marginally stable so that sustained
oscillation occurs can be obtained by use of Routh’s stability criterion. Since the
characteristic equation for the closed-loop system is

the Routh array becomes as follows:


Worked Example 1
Examining the coefficients of the first column of the Routh table, we find that
sustained oscillation will occur if Thus, the critical gain Kcr is

With gain Kp set equal to the characteristic equation becomes

To find the frequency of the sustained oscillation, we substitute s=jv into this
characteristic equation as follows:

The period of sustain oscillation is


Since we now know . Let us draw the table and fill it.
Worked Example 1
Reffering to the table, we determine

The transfer function of the PID controller is thus


Worked Example 1
Session Summary
• Manual tuning of PID controller can be conducted in various ways by
means of some plant test
• There simply is no way to analytically tune a controller if we do not
know the type of algorithm and the units
• Autotuning simplifies the tuning procedure of PID controller

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