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Lecture11 PID Controller

The document provides an overview of PID controllers, including their components (Proportional, Integral, and Derivative) and their effects on system dynamics. It discusses tuning methods, particularly the Ziegler-Nichols method, for optimizing PID controller parameters to improve system performance. Additionally, it outlines the mathematical representations and design techniques for implementing PID controllers in industrial applications.

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5 views29 pages

Lecture11 PID Controller

The document provides an overview of PID controllers, including their components (Proportional, Integral, and Derivative) and their effects on system dynamics. It discusses tuning methods, particularly the Ziegler-Nichols method, for optimizing PID controller parameters to improve system performance. Additionally, it outlines the mathematical representations and design techniques for implementing PID controllers in industrial applications.

Uploaded by

Omar Mostafa
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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Automatic Control

Engineering
DR.EE 417S AYED
AMGED

Lecture 11
Agenda

PID controller

Tuning of PID
Introduction
Classical Controller
 One form of controller widely used in industrial process control is the
three-term, PID controller
 Due to its simplicity and excellent if not optimal performance
in many applications,
 It can be tuned by operators without extensive background in
Controls
 PID Stands for
P => Proportional
I => Integral
D => Derivative
Classical Controller
 This controller has a transfer function:

The time domain of the controller is

+
-
e(t)
𝑮𝒄 ( 𝒔 ) u(t)
𝑮( 𝒔 )
PID controller
Proportional Controller
 The time domain equation of P controller is,
(1)
Where u(t) control signal , e:error signal, Kp: proportional constant gain
 The form of P-controller in S-domain is:

 A proportional controller reduces error but does not eliminate it


 As the gain is increased the system responds faster to changes in
set-point but becomes progressively underdamped
Integral Controller
 The time domain equation of I–controller is,
(1)
Where KI: integral constant gain
 The form of I-controller in S-domain is:

 A integral controller increases system type by 1 and eliminate


steady-state error for a unit step input
Derivative Control
 The time domain equation of D–controller is,
(1)
Where KD: integral constant gain
 The form of D-controller in S-domain is:

 A derivative controller reduces overshoot and oscillation and has no


affect steady-state response; but it makes system sensitive to noise.
PI & PD
controllers
Proportional Integral Controller (PI)
 The time domain equation of PI–controller is,

 A proportional integral controller increases system type by 1 and


eliminates steady-state error for a unit step input, but it reduces the
stability of closed loop system and increase overshoot .
Proportional Integral Controller (PI)
Proportional Derivative Controller (PD)
 The time domain equation of D–controller is,

 PD control adds a simple zero at s = -K P/KD to the forward-path


transfer function
 A proportional derivative (PD) controller reduces overshoot and
oscillation and increase the stability of the system but it has no affect
steady-state response;
Proportional Derivative Controller (PD)
PID controller
PID controller
 PD controllers enhance damping of a system, but the steady-state
response is not affected.
 PI controllers improve the relative stability and improve the steady
state error at the same time, but the rise time is increased.
 PID controllers combine the features of PD and PI controllers.
𝐾𝐷 𝑠
+ +
𝑅 (𝑠) 𝐸 (𝑠)
𝐾𝑝 + 𝑈 (𝑠) 𝑃𝑙𝑎𝑛𝑡
s)

- +
𝐾𝑖
𝑠

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘
How do the PID parameters affect system dynamics?
Steady
SETTLING
PID Gain RISE TIME OVERSHOOT state
TIME
ERROR

Increase Kp Decrease Increase Small Change Decrease

Zero steady
Increase Ki Decrease Increase Increase state

Small Small
Increase Kd Decrease Decrease
Change Change
PID controller
 The design technique for the PID controller is as follow:
1. Evaluate the performance of the uncompensated
system to determine how much improvement in
transient response is required.
2. Design the P controller to decrease the rise time.
3. Use the I controller to yield the required steady-
state error.
4. Use D controller to reduce overshoot in the
PID controller tunning
PID tunning
 There are many methods available to determine acceptable values of
the PID gains.
 The process of determining the gains is often called PID tuning.
 A common approach to tuning is to use manual PID tuning methods,
whereby the PID control gains are obtained by trial-and-error with
using step responses.
 A more analytic method is the Ziegler–Nichols tuning method.
 A Ziegler–Nichols tuning method based on open-loop responses to a
step input (first method) and a related a Ziegler–Nichols tuning
method based on closed-loop response to a step input (second method)
PID tunning
The transfer function of PID controller is given as
𝑈 (𝑠 ) 1
=𝐾 + 𝐾 𝑖 + 𝐾 𝑑 𝑠
𝐸 ( 𝑠) 𝑝 𝑠
It can be simplified as
𝑈 ( 𝑠) 1
= 𝐾 (1+ + 𝑇 𝑑 𝑠)
𝐸 (𝑠 ) 𝑝
𝑇𝑖 𝑠

Where 𝐾𝑝 𝐾𝑑
𝑇 𝑖= 𝑇 𝑑=
𝐾𝑖 𝐾𝑝
Zeigler-Nichol’s Second Method
 In the second method, we first set K D=0, KI=0 and Using the
proportional control action only.

 Increase Kp from 0 to a critical value Kc at which the output first


exhibits sustained oscillations.
 Thus, the critical gain Kc and
the corresponding period Pc are determined.
Zeigler-Nichol’s Second Method
- Kc is the critical gain and
- Pc :the corresponding period

Controller Kp Ti Td
P 0.5 Kc - -
PI 0.45 Kc Pc/1.2 -
PID 0.6 Kc 0.5Pc Pc/8
Zeigler-Nichol’s Second Method
Example:
Consider the control system shown in Figure. Design the PID controller
using Zeigler-Nichol’s Second Method
Zeigler-Nichol’s Second Method
Solution
By setting Ki=0 and Kd=0, closed loop transfer function is obtained as
follows.

• The value of that makes the system marginally stable so that


sustained oscillation occurs can be obtained by use of Routh’s stability
criterion
• The characteristic equation
Zeigler-Nichol’s Second Method
Solution
the Routh array becomes as follows:

The sustained oscillations will occur if .


Thus the critical gain is
𝐾 𝑐 =30
Zeigler-Nichol’s Second Method
Solution
With gain set equal to 30, the characteristic equation becomes
3 2
𝑠 + 6 𝑠 +5 𝑠 +3 0= 0
To find the frequency of sustained oscillations, we substitute into the
characteristic equation.
3 2
( 𝑗 𝜔) +6 ( 𝑗 𝜔) + 5 𝑗 𝜔+ 3 0=0
Further simplification leads to:
6 (5 − 𝜔¿¿ 2)+ 𝑗 𝜔(5− 𝜔 ¿¿ 2)=0 ¿ ¿

6 (5 − 𝜔¿¿ 2)=0 ¿

𝜔= √5 𝑟𝑎𝑑/ 𝑠𝑒𝑐
Zeigler-Nichol’s Second Method
Solution 𝜔= √5 𝑟𝑎𝑑/ 𝑠𝑒𝑐
Hence the period of sustained oscillations is
2𝜋
𝑃 𝑐=
𝜔
2𝜋
𝑃 𝑐= =2 .8099 𝑠𝑒𝑐
√5
Referring to Table
𝐾 𝑝 =0 . 6 𝐾 𝑐 =18
𝑇 𝑖=0 .5 𝑃 𝑐 =1 . 40 5
𝑇 𝑑 =0 . 125 𝑃 𝑐 =0 .35124
Zeigler-Nichol’s Second Method
Solution
1
𝐺 𝑐 (𝑠)=18( 1+ + 0 . 35124 𝑠)
1 . 41 𝑠

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