Scribd
Upload
5 views

PID Tuning Lecture

PID tuning involves adjusting controller parameters to optimize process performance and minimize error. Common methods include trial and error, Ziegler-Nichols, and Cohen-Coon, each with specific applications for flow, level, pressure, and temperature control. The Ziegler-Nichols method is suitable for both closed and open-loop systems, while Cohen-Coon is used for systems with significant dead time.

Uploaded by

Usama G.Mustafa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
5 views

PID Tuning Lecture

PID tuning involves adjusting controller parameters to optimize process performance and minimize error. Common methods include trial and error, Ziegler-Nichols, and Cohen-Coon, each with specific applications for flow, level, pressure, and temperature control. The Ziegler-Nichols method is suitable for both closed and open-loop systems, while Cohen-Coon is used for systems with significant dead time.

Uploaded by

Usama G.Mustafa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 10

PID TUNING

• Controller tuning is the process of determining the controller parameters


which produce the desired output.
• Controller tuning allows for optimization of a process and minimizes the
error between the variable of the process and its set point.
• Types of controller tuning methods include the trial and error method, and
process reaction curve methods.
• The most common classical controller tuning methods are the Ziegler-
Nichols and Cohen-Coon methods.
• The Ziegler-Nichols method can be used for both closed and open loop
systems
• while Cohen-Coon is typically used for open loop systems.
TRIAL AND ERROR
• The trial and error tuning method is based on guess-and-check.
• In this method, the proportional action is the main control, while the integral
and derivative actions refine it.
• The controller gain, K , is adjusted with the integral and derivative actions
held at a minimum, until a desired output is obtained.
For flow control
• P or PI control can be used with low controller gain
• Use PI control for more accuracy with high integration activity.
• Derivative control is not considered due to the rapid fluctuations in flow dynamics with lots of noise.
• Kc = 0.4-0.65 ; Ti = 6s
For Level control
• P or PI control can be used, although PI control is more common due to inaccuracies incurred due to
offsets in P-only control
• Derivative control is not considered due to the rapid fluctuations in flow dynamics with lots of noise.
• The following P only setting is such that the control valve is fully open when the vessel is 75% full and
fully closed when 25% full, being half open when 50% filled.
• Kc = 2 Bias b = 50% Set point = 50%
• For PI control: Kc = 2-20 Ti = 1-5 min
For Pressure control
• Tuning here has a large range of possible values of K and T for use in PI
control, depending on if the pressure measurement is in liquid or gas
phase.
• Liquid :Kc = 0.5-2; Ti = 6-15 s
• Gas: Kc = 2-10; Ti = 2-10 min

For Pressure control


• Due to the relatively slow response of temperature sensors to dynamic
temperature changes, PID controllers are used.
• Kc = 2-10
• Ti = 2-10 min
• Td = 0-5 min
PROCESS REACTION CURVE

• In this method, the variables being measured are those of a system that is already in place.
• A disturbance is introduced into the systemand data can then be obtained from this curve.
• First the system is allowed to reach steady state, and then a disturbance, X, is introduced to it.
• The percentage of disturbance to the system can be introduced by a change in either the set point or process
variable.
• For example, if you have a thermometer in which you can only turn it up or down by 10 degrees, then raising
the temperature by 1degree would be a 10% disturbance to the system. These types of curves are obtained in
open loop systems when there is no control ofthe system, allowing the disturbance to be recorded.
• The process reaction curve method usually produces a response to a step functionchange for which several
parameters may be measured which include: transportation lag or dead time, τ, the time for the responseto
change, τ, and the ultimate value that the response reaches at steady-state, M.
ZIEGLER-NICHOLS CLOSED-LOOP TUNING METHOD
• The Ziegler-Nichols closed-loop tuning method allows you to use the ultimate gain value, K, and
the ultimate period of oscillation,P, to calculate K .
• It is a simple method of tuning PID controllers and can be refined to give better approximations of
the controller.
• These two parameters, Ku and Pw, are used to find the loop-tuning constants of thecontroller (P, PI,
or PID). To find the values of these parameters, and to calculate the tuning constants, use the
following procedure:
• Remove integral and derivative action. Set integral time (Ti) to 999 or its largest value and set the
derivative controller (Td) to zero.
• Create a small disturbance in the loop by changing the set point. Adjust the proportional,
increasing and/or decreasing, the gainuntil the oscillations have constant amplitude.
• Record the gain value (Ku) and period of oscillation (Pu).
Advantages
• Easy experiment; only need to change the P controller
• Includes dynamics of whole process, which gives a more accurate picture of how the system is behaving

Disadvantages
• Experiment can be time consuming
• Can venture into unstable regions while testing the P controller, which could cause the system to become
out of control
COHEN-COON METHOD

• The Cohen-Coon method of controller tuning corrects the slow, steady-state


response given by the Ziegler-Nichols method when thereis a large dead time
(process delay) relative to the open loop time constant; a large process delay is
necessary to make this method practical because otherwise unreasonably large
controller gains will be predicted.
• This method is only used for first-order models with time delay, due to the fact that
the controller does not instantaneously respond to the disturbance (the step
disturbance is progressive instead of instantaneous).
• The Cohen-Coon method is classified as an 'offline' method for tuning, meaning that
a step change can be introduced to the input once it is at steady-state. Then the
output can be measured based on the time constant and the time delay and this
response can be used to evaluate the initial control parameters.

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy