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Pid Tuning

The document outlines the PID controller review and tuning methods, including Ziegler-Nichols open and closed loop tuning techniques, as well as frequency response methods. It provides step-by-step instructions for tuning PID controllers using MATLAB, with examples illustrating the process and characteristics of closed loop responses. Additionally, it emphasizes the importance of further adjustments based on system requirements and general PID tuning rules.

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Adem Abdela
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© © All Rights Reserved
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12 views25 pages

Pid Tuning

The document outlines the PID controller review and tuning methods, including Ziegler-Nichols open and closed loop tuning techniques, as well as frequency response methods. It provides step-by-step instructions for tuning PID controllers using MATLAB, with examples illustrating the process and characteristics of closed loop responses. Additionally, it emphasizes the importance of further adjustments based on system requirements and general PID tuning rules.

Uploaded by

Adem Abdela
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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Outline

I. PID Controller Review


II. PID Tuning
1. Ziegler-Nichols open loop tuning (open loop transient response
method)
2. Ziegler-Nichols closed loop tuning
3. Frequency Response method

III. PID tuning with MATLAB


PID
PID tuning
Ziegler-Nichols Open Loop Tuning
Example
Ziegler-Nichols Closed Loop Tuning
PID Tuning
MATLAB
Tuning: Open-Loop Transient Response Method
 St-1: obtain Open loop Transfer function:

 St-2: obtain process reaction graph: Use “process_reaction_graph.m” MATLAB


file to get the step response graph

 St-3: obtain values from the process reaction graph:


 St-4: Tune the controller gains:
 use “Ziegler_Nichols_open_TuneMethod(TD, T1, K, mode)” MATLAB file to obtain
controller gains as listed in the table above.
Cont..
 St-5: Obtain closed loop response

 St-6: Obtain closed loop response characteristics:


 Peak response
 Settling Time
 Rise Time
 Steady State
Example 1
 Given Process Transfer function:

STEP-
1
Cont….
STEP-
2

ST-
3
 K = 0.333
 L = 0.476 s
 T = 4.129-0.476
= 3.653 s
Cont…

ST-
4

ST-
5 ST-
6
ST-
5
Cont…

Transient Response Specifications


Is the system stable?
 Yes
 Rise Time:

Steady state Response


 Peak Time:

Specifications
 Percent Overshoot:
 Settling Time:
 Steady state error:
Tuning: Ziegler-Nichols Closed loop method
 St-1: obtain Open loop Transfer function
 St- 2: Find closed loop response by reducing Ki and Kd to their minimum value and
assuming any value for Kp
 It is easier to do this process using SIMULINK block (use transfer function block)

 St-3: Gradually increase Kp until we get steady cyclic response

 St-4: Note the last Kp value which give steady cycling, which is “Critical gain”, Kc, and
the cycling period is the “critical period”, Tc
Cont…
 St-5: Tune the controller gains using values, Kc and Tc
 use “Ziegler_Nichols_closed_TuneMethod(Kc, Tc, mode)” MATLAB file to
obtain controller gains as listed in the following table (for standard controller
tuning). Modes Kp Ti Td
P 0.5Kc - -
PI 0.45Kc Tc/1.2 -

PID 0.6Kc Tc/2 Tc/8

 St-6: Obtain closed loop response


 St-7: Obtain closed loop response characteristics:
Example 2 𝑌 ( 𝑠)
= 3
1
 Given Open loop Transfer function: 𝐹 ( 𝑠) 𝑠 +6 𝑠 2 +11 𝑠+6

ST-
3  To get peaks of the graph in scop
window: ToolsMeasurementsPeak
Finder
2  Period will be Time difference btn
,
T-1 successive peaks
S 3
&

-
ST
4  Kc 60
 Tc 1.9
Example 2 𝑌 ( 𝑠)
= 3
1
𝐹 ( 𝑠) 𝑠 +6 𝑠 2 +11 𝑠+6

T-
S
5

-
ST
6

&
T -6
S
7
Example 2 𝑌 ( 𝑠)
= 3
1
𝐹 ( 𝑠) 𝑠 +6 𝑠 2 +11 𝑠+6

T-
S
5

-
ST
6

&
T -6
S
7
CONT…
This tuning methods provide the starting point.
So we can further adjust controller gains to meet our system
requirement.

(Eliminate)
CONT…
For further adjustments are based on the general PID tuning
rules:
1. Identify what characteristics of the system needs to be
improved
2. Use to decrease Rise Time
3. Use to decrease Overshoot and Settling Time
4. Use to eliminate Steady state error
Exercise
 Design a PID controller for the given process transfer function using
a. ZN-open loop tuning method
b. ZN-closed loop tuning method
 Obtain the closed loop step response graph and show step response
characteristics:
a. Peak response
b. Rise Time
c. Settling Time
d. Steady state value

𝑌 (𝑠) 1
= 3
𝐹 (𝑠) 𝑠 +5 𝑠 2+10 𝑠+ 20

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