State Of Libya

Al-Asmareya Islamic University

Faculty of Engineering
Electrical and Computer Engineering Department

:Control lap ECE482

6. Manual tuning

T. Salem Ebid

June ,2023 S. Waleed A M Aleyan,17

N. 219080543

2023\2022 ‫فصل ربيع‬

 Introduction

The method you are referring to is the gain margin and phase margin
method for tuning control systems. In this method, the gain and phase
margins of the open-loop transfer function of the control system are
analyzed to determine the stability and performance of the system.
The gain margin is the amount of gain that can be added to the system
before it becomes unstable, while the phase margin is the amount of
phase lag that can be added before the system becomes unstable.

The Ziegler-Nichols tuning method is a popular and widely used method

for tuning the parameters of a PID (Proportional-Integral-Derivative)
control system. This method involves identifying the critical gain and
critical period of the system through a series of step tests, and using
these values to determine the proportional, integral, and derivative
gains of the system.

o Manual tuning:

 Eliminate the effect of the integrated part of the controller PID.

 Canceling the effect of the differential part of the controller PID.
 We gradually increase the value KP until the output of the system is
oscillating. Then we value the value KP at half the current value.

KP=?? Kd=0 KI=0

clc
clear all
num=[3.475];
den=[0.00374 0.516 12.34 0];
sys = tf(num,den);
sys1 = feedback(sys,1)
figure(1),step(sys1,30),grid;
kp =60;
sys_p =series(sys,kp);
sys_p_cl = feedback(sys_p,1)
figure,step(sys_p_cl,30),grid
 We find that the value at which the system becomes oscillating is 60 and half the value will be
taken to implement the rest of the system control
 Characteristics Value

TS 0.285 sec

Tr 0.174 sec

OS% 0.401%

ESS 1-1=0.0%

 Adjust the value KI it is cancelation SSE.

 Adjust the value of the KD differential until the system stabilizes
quickly and the ovarshoot Acceptable.
 Characteristics Value

TS 13.8 sec

Tr 7.71 sec

OS% 0%

ESS 1-1=0.0%

 Advantages:

 Provides a quantitative measure of system stability and performance.

 Can be used to optimize the response of the system to different types of
disturbances.
 Can be used to compensate for non-linearities and uncertainties in the
system.

 Disadvantages:

 Requires knowledge of the open-loop transfer function of the control

system, which may be complex or difficult to determine.
 Can be sensitive to changes in the system parameters, which may require
frequent re-tuning.
 May not be suitable for systems with highly non-linear or time-varying
behavior.

When using a method Manual tuning, the system must be oscillating. If the system is
not oscillating, use the method Ziegler Nichols tuning and method of implementation
in the following report.

 Ziegler_Nichols tuning

 First method of Ziegler

In this method, the response to the system is selected using Unit step as input in the
open loop. If the response curve is set to S_shep, this method can be applied

Transfer function is
 ωn (s) 3.475
=
v a (s ) 0.00374 S 2 +0.516 S +12.34

 Step response close loop with out controller:

Step Response w ith out controller

0.25

System: g2
0.2
Final value: 0.22

0.15
Am plitude

0.1

0.05

0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14
Time (seconds)

 Step response open loop system with out controller

 Note that the response format in open loop is similar to S_shep and thus we can use
this method
This method depends on two pillars dely tim(L), tim constant(T)

T
R=
L

L=0.00429

T =0.0567

0.056 7
R= =12 .21
0. 00429

The table of the value and type of each microcontroller after finding the
value T/L
Type of Kp Ti Td
controller
P T/L ∞ 0
R>10¿ Pcontroller
PI 0.9T/L L/0.3 0
7.5< R<10 ¿ P I controller
PID 1.2T/L 2L 0.5L
 3< R<7.5 ¿ P I Dcontroller

By reliability R>10 we define the type of controller P controller and when added with
the system gives the following response

Note that the system improves when adding p controller.

In the case of the system is not S_shep to the other way we use the other solution
method of Ziegler_Nichols tuning.

Second method tuning:

Transfer function is

ωn (s) 3.475
=
v a (s ) 0.00374 S 3 +0.516 S 2 +12.34 s

Step response system in open loop

 Step Response
3.5

2.5

2
Amplitude

1.5

0.5

0
0 2 4 6 8 10 12
Time (seconds)

Note that the system response does not take the form of S_shep so we will get to the
method second method

In this way we put Ti = ∞ and Td = 0 and use P controller only to increase kp from 0
to Kcr (critical value) in which the oscillation arises.
 In order to use this method, the system must be critical and pass through Kcr
interrupting the imaginary axis. This intersection point can be found using the Roth or
Root locus method

 Test root locus system

test Root Locus

250

200 System: g
Gain: 488
150 Pole: 0.303 + 57.2i
Im a g in a r y A x is ( s e -c1)o n d s

Damping: -0.0053
100 Overshoot (%): 102
Frequency (rad/s): 57.2
50

-50

-100

-150

-200

-250
-350 -300 -250 -200 -150 -100 -50 0 50 100 150
-1
Real Axis (seconds )

From the previous drawing we find that

w=57.2 rad /sec

2π
P cr= =109 sec
w
K cr =488

When we find a value Kcr,Tcr we calculate in the following table the type and value
of the controller we will use to improve system responsiveness.

Type of Kp Ti Td 0¿ KCR< 488 Pcontroller

controller ¿

P 0.5Kcr ∞ 0
7.5< R<10 ¿ P I controller
PI 0.45Kcr Pcr/1.2 0

PID 0.6Kcr Pcr/2 Pcr/8 3< R<7.5 ¿ P I Dcontroller

Step response close loop system with out controller
Transfer function is

ωn (s) 3.475
=
v a (s ) 0.00374 S +0.516 S 2 +12.34 s
3

Type of Kp Ti Td
controller
P 288 ∞ 0

PI 219.6 90.833 0

PID 292.8 54.5 13.625

 Characteristics Value

TS 13.8 sec

Tr 7.71 sec

OS% 0%

ESS 1-1=0.0%

 Note :It is clear that this system is stable, whether it is of the first, second, or third type, where
Ess is zero in all cases. For this, we used the third type, as it is considered more accurate .

 Advantages:

 The Ziegler-Nichols method is a simple and straightforward method for tuning

PID controllers, and it can be applied to a wide range of systems.
 The method is based on empirical data, which can be obtained through simple
step tests, and does not require detailed mathematical models or simulations.
 The method provides a good starting point for tuning the system, and the gains
can be further optimized through trial and error or other tuning methods.

 Disadvantages:

 The Ziegler-Nichols method assumes that the system is stable and has a well-
defined response to step inputs, which may not be true for all systems.
 The method can be sensitive to noise and disturbances in the system, and may
require multiple tests to obtain accurate results.
 The method may not be suitable for systems with highly nonlinear or time-
varying beha.
 Discussion

 The Ziegler-Nichols tuning method is one of the most popular and widely used
methods for tuning PID controllers. It provides a simple and straightforward
approach to determine the proportional, integrative, and derivative gains of a
system based on experimental data obtained through step tests. However, it has
some limitations and may not be suitable for all systems.

 In general, the choice of tuning method depends on the complexity and

behavior of the system, as well as the desired performance criteria and
constraints. Some systems may be better suited to one method over another, and
it's important to carefully evaluate and test the performance of the system under
different tuning methods.
 It's also important to note that the tuning of a PID controller is an iterative
process and may require multiple rounds of testing and adjustment to achieve
the desired performance. The performance of the system can be evaluated using
metrics such as rise time, settling time, overshoot, and steady-state error, and
these metrics can be used to optimize the tuning parameters of the system.
 The choice of tuning method depends on the specific requirements and
constraints of the system, and careful evaluation and testing are necessary to
achieve the desired performance.